机械手的机械和控制系统外文翻译学位论文.docVIP

宁波大红鹰学院 毕业设计（论文）外文翻译 所在学院： 机电学院 班 级： 姓 名： 学 号： 指导教师： 合作导师： 年 月 日 原文： 题目 Robots mechanical and control systems 1、the general structure of the robot hand A robot hand can be divided into two main subsystems: mechanical systems and control systems. Mechanical systems can be divided into structural design, drive systems and sensor systems, we will further introduce in the third part. In the fourth section describes the control system at least by the control hardware and control software. These two subsystems we will make some basic introduction to the problem, then use the Karlsruhe Dexterous Hand Ⅱ show you. 2、the mechanical system Mechanical systems will describe how this looks, and by what hand components. It determines the structural design, the number of fingers and the use of materials. In addition, to determine the drive (such as motors), sensors (such as position encoder) position. 2.1 Structural Design Structural design of flexible robot will play a large role, that it can capture and what type of object can be grasped object what to do. Design of a robot hand, it must identify three basic elements: the number of fingers, finger joints and the number of dimensions and placement of the finger. To be able to work in the context of robot crawling and safe operation of the object, at least three fingers. To be able to be grasped object operations get six degrees of freedom (three translational and three rotational degrees of freedom), each finger must have three separate joints. In this way the first generation of Karlsruhe Dexterous hands are used too. However, in order to re-grasp an object without releasing it first, then pick up again, at least four fingers. 2.2 Drive System Knuckle drive the opponents flexibility also have a great impact, because it determines