The Design and Use of 3DOF Manipulator-外文文献翻译译文.docVIP

本科毕业设计 外文文献及译文 文献、资料题目：The Design and Use of 3Dof Manipulatoras a Platform for Education in Mechatronics 文献、资料来源： Technology of us 文献、资料发表（出版）日期：2013.2 院 （部）：机电工程学院 专 业：机械工程及自动化 班 级：机械xxx 姓 名：xxx 学 号： xxxx 指导教师： xxxx 翻译日期： 2015.03.10 外文文献： The Design and Use of 3DOF Manipulator Abstract This article deals with the manipulator applied as an educational platform in mechatronics. All important parts of the design procedure are presented, including mechanical construction, electronics, control and safety management, with the use of additional sensors. The visual tracking of the end effector as an example of the practical task is also described. 1 Introduction Currently, the use of different kinds of manipulators has expanded to various industries, where they have increasingly replaced humans. For education in mechatronics it is therefore desirable to have an educational platform which could show problems of the design and use of such manipulators [1], [2], [3]. This educational platform should be composed of commercially available components (COTS), should ensure modularity and total openness with the possibility of placing additional sensors. Such a teaching tool would be suitable for teaching the kinematics and dynamics of manipulators as well as for the classical and advanced control algorithms [4] which use the identified model of the plant. The educational platform should be capable of high dynamics movements, in order to show the influence of dynamic motion and gravitational forces. Today the most widespread educational tool is Lego Mindstorm [5]. Due to the large clearances of Lego parts, it was not possible to achieve very precise and dynamic movements at the same time. Often used as an actuator for small educational manipulators, servo drives are commercially available [6]. Their use simplifies the design itself and consequently control of the manipulator. The disadvantage is, however, relatively little