机器人的

Instantaneous motions of the end effector of the typical industrial serial 6-DOF and 5DOF robots are also studied using reciprocal screw theory, The constrained and permitted motions at special configurations are given. Furthermore, the satisfied conditions for the special configurations are discussed, and in the reference coordinate system general expressions of the reciprocal screw and existed motion screw and the subspaces of the permitted rotational axes are obtained under all circumstances at special configurations.

本文中还用反螺旋理论研究了六自由度和五自由度工业机器人的瞬时运动，给出了它们在正常位形和特殊位形下的受约束的运动和存在的运动，以及它们在所有运动参数的不同组合下的反螺旋及存在运动螺旋系的一般表达式和转动轴线存在的子空间。

Firstly,the Image Jacobin Matrix for GRB-400 robot which is a dynamic look and move system has been established.Then,a hierarchical Model Reference Adaptive Control law combined with a fuzzy regulator is proposed to solve the control problem,and the comparison of the experimental step responses between system with fuzzy logic and system without fuzzy regulator is delivered.The experimental results show the feasibility and advantage of the control l...

首先建立了视觉伺服GRB-400机器人的图像雅可比矩阵，然后针对该动态Look and Move系统提出了一种带有模糊自调整能力的分层模型参考自适应控制的设计方法，其特点是设计方法简单并可以在线调节相关参数，给出了闭环系统的阶跃响应实验结果，并与原分层模型参考自适应控制闭环系统的动态性能做了比较，实验证明了改进后的闭环系统具有更好的动态性能。

Each hydraulic link of 6-DOF parallel robot is treated as an open joint-link chain. Each link's local coordinate frames is established according to the position and orientation of the component of the spatial mechanism. The stiffness and damping matrices of the link are transformed into the static gross coordinate frame through transfer matrix described by the RPY description method. The differential equation of motion of the system vibration is derived.

将6-DOF并联机器人的液压分支作为假想的单开链，由空间机构的位姿建立其组成构件的局部坐标系，并利用RPY角描述方法，通过转移矩阵将各构件的刚度及阻尼矩阵依次转移到固定坐标系中，得到了系统振动的运动微分方程。

Then the kinematics analysis and dynamics analysis of the radial linear stretching component are discussed. The designs of single-arm and dual-arm wafer handling robots are completed, and the dual-arm robot is based on the single-arm robot.

本文硅片传输机器人本体设计包括单臂机器人设计和双臂机器人设计，在单臂机器人设计工作的基础上进行双臂机器人设计。

The radial rectilinear stretching motion is firstly analysed, and its condition is deduced. Then two planetary gear mechanisms are assembled to realize the motion. In addition, the kinematics and dynamics analysis of arm mechanism is done, which provide the theoretic basis for the selection of servomotor and for holding the good dynamics and static performance of the clean robot.

首先对其末端执行器的径向直线伸缩运动展开分析，得出了实现该运动的必要条件，并采用两组行星轮系与连杆机构的组合形式来实现末端执行器的运动，此外还对该机构进行了运动学和动力学分析，为电机的选择以及控制净化机器人的动态性能和静态特性提供理论基础。

With the objective of the robot′s steady movement, the trajectory is sampled equably and each segment is considered as uniformly variable motion. To guarantee tracking precision, the relation between the tracking control error and the output torque of the controller is analyzed from the point of engineering.

而按照通常的规划算法所规划出的"最优"参考轨迹在实际中却难以应用，因为这一参考轨迹是基于机器人的精确动力学模型得到的，没有考虑实际系统中存在的模型不确定性，也未考虑控制器的动态特性，因而跟踪精度得不到保证。

DARPA's Bio-Revolution thrust has four broad elements:?? Protecting Human Assets refers to the Biological Warfare Defense work mentioned earlier.?? Enhanced System Performance work is developing new systems with the autonomy and adaptability of living things by developing biologically inspired materials, processes, and devices embodied in systems such as biorobotics.?? Enhanced Human Performance is aimed at preventing humans from becoming the weakest link in the U.S. military by exploiting the life sciences to make the individual warfighter stronger, more alert, more endurant, and better able to heal.??

DARPA的生物革命突破具备四个广泛的要素*保护人类财产指的是先前提出的生物防御工作*提升系统性能指的是通过发展生物材料、过程和装置，形成诸如生物机器人的一体化系统来发展具有自主性的生存适应能力的新型系统*加强人类表现旨在通过探索生命科学使个人武器更强大、更灵敏、更持久、更容易修复，以防止人成为美国军队中最弱的一环。

Realizes the robot rotary motion using Step Motor machine actuation and the overtone gear drive, uses another tablecloth Step Motor actuation ball bearing guide screw to revolve, thus causes with the ball bearing guide screw nut vice- solid company at the together arm realization the vertical motion, his/her the arm expansion and contraction movement actuates by the hydraulic cylinder, the entire manipulator through two straight lines directions and a hand of rotation, the realization work piece transporting work, this article has carried on the detailed design to manipulator's mechanism.

利用步进电机驱动和谐波齿轮传动来实现机器人的旋转运动，利用另一台步进电机驱动滚珠丝杠旋转，从而使与滚珠丝杠螺母副固连在一起的手臂实现上下运动，其手臂的伸缩运动由液压缸驱动，整个机械手通过两个直线方向和一个旋转方向，实现工件的搬运工作，本文对机械手的机械结构进行了详细的设计。

Realizesthe robot rotary motion using Step Motor machine actuation and theovertone gear drive, uses another tablecloth Step Motor actuationball bearing guide screw to revolve, thus causes with the ballbearing guide screw nut vice- solid company at the together armrealization the vertical motion, his/her the arm expansion andcontraction movement actuates by the hydraulic cylinder, the entiremanipulator through two straight lines directions and a hand ofrotation, the realization work piece transporting work, thisarticle has carried on the detailed design to manipulator'smechanism.

利用步进电机驱动和谐波齿轮传动来实现机器人的旋转运动，利用另一台步进电机驱动滚珠丝杠旋转，从而使与滚珠丝杠螺母副固连在一起的手臂实现上下运动，其手臂的伸缩运动由液压缸驱动，整个机械手通过两个直线方向和一个旋转方向，实现工件的搬运工作，本文对机械手的机械结构进行了详细的设计。

To validate the theoretical analysis, the experiments on MicroHand slave and the whole system are made. MicroHand does cutting separate and stanch operation ,"do sewing work".

为了验证理论分析设计的正确性和有效性，分别对MicroHand主从机器人的从手和整个系统的主从控制过程进行了详细的实验验证，并运用该系统进行各种如切开、分离、止血等基本操作的功能性试验及&穿针引线&的灵活性实验。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。