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机械手类毕业设计外文文献翻译_精品
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机械手类毕业设计外文文献翻译
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毕业设计(论文)外文资料翻译
系 专 业: 班 姓 名:学 外文出处:附 件: 2013年03月
附件一:
A Rapidly Deployable Manipulator System
Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla
Abstract:
机械类毕业设计论文
A rapidly deployable manipulator system combines the flexibility of
reconfigurable modular hardware with modular programming tools,
allowing the user to rapidly create a manipulator which is custom-tailored
for a given task. This article describes two main aspects of such a system,
namely, the Reconfigurable Modular Manipulator System
(RMMS)hardware and the corresponding control software.
1 Introduction
Robot manipulators can be easily reprogrammed to perform different
tasks, yet the range of tasks that can be performed by a manipulator is
limited by mechanicalstructure.Forexample, a manipulator well-suited for
precise movement across the top of a table would probably no be capable
of lifting heavy objects in the vertical direction. Therefore, to perform a
given task,one needs to choose a manipulator with an appropriate
mechanical structure.
We propose the concept of a rapidly deployable manipulator system to
address the above mentioned shortcomings of fixed configuration
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manipulators. As is illustrated in Figure 1, a rapidly deployable manipulator
system consists of software and hardware that allow the user to rapidly
build and program a manipulator which is customtailored for a given task.
The central building block of a rapidly deployable system is a
Reconfigurable Modular Manipulator System (RMMS). The RMMS utilizes a
stock of interchangeable link and joint modules of various sizes and
performance specifications. One such module is shown in Figure
2. By combining these general purpose modules, a wide range of special
purpose manipulators can be assembled. Recently, t
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