机械手

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

As compared with the existing work in this field, the results given in this paper is simple, and suitable for any robotic manipulators with unknown dynamics nonlinearities.(3) The proposed control scheme excludes the assumption that is often used in the existing literature, i.e., the robot states are assumed to be within a compact set.

与现有方法比较，本文给出的结果比较简单，适合于任何动力学非线性未知机械手的控制；提出的设计方法，克服了现有机械手神经网络控制应用中所需要的假设条件，即假设机械手的状态量严格位于某一紧集中。

A new type mating device is designed which has a cupule at each end of manipulator. Kinematics analysis, structural design of mating device and motion equations are also given in this paper. At the same time, the motion of manipulators position and posture are analyzed according to the auto-mating tactic.

本文进行了基于吸盘结构的水下运载器主动对接装置的结构设计，对装置进行了运动学分析，结合机械手的实际结构，推导出机械手末端吸盘的运动方程，并根据主动对接作业策略进行了机械手位姿变化的分析。

The degree and extent of PLC development are the symbols of automatic level in one country. To solve the problem of automatic potting pastern to electronic horns circuit panel, a manipulator control system was made in this article. One important part is how to design the automatic control system in this article. The whole blue print, target and its function have been confirmed.

为了解决汽车电子喇叭控制板生产的自动涂胶问题，本文主要研究了涂胶机械手如何从手动操作设计成为自动涂胶的机械手的方法，提出了设计自动涂胶机械手的整体方案和目标及功能要求；给出了自动涂胶机械手的本体设计；驱动执行装置的设计(电气部分及伺服电动机的设计)；系统控制部分的设计等。

Including Total design, fuselage's construction design, the arm's construction design , the catch's construction design , and the end effecter's construction design.

具体进行了机械手的总体设计，机身结构的设计，机械手手臂结构的设计，机械手手爪的结构设计，机械手的机械传动机构的设计。

This article introduced the manipulator, it outputs four groups by PLC to actuate the abscissa axis, the z-axis, the chassis rotation, hand-rotating motor separately, and controls the manipulator abscissa axis and the z-axis pint pointing, the micro switch bequeaths the position signal to the PLC main engine; The electrical machinery drives the hand fingernail and the chassis revolve; The solenoid valve controls air valve the switch to control the manipulator hand fingernail to gather, then realizes the manipulator proper motion function.

本文介绍的机械手是由PLC输出四路来分别驱动横轴、竖轴、底盘转动、手转动电机，控制机械手横轴和竖轴的精确定位，微动开关将位置信号传给PLC主机；电机拖动手爪和底盘旋转；电磁阀控制气阀的开关来控制机械手手爪的张合，从而实现机械手精确运动的功能。

The results simulated with MATLAB demonstrate that the proposed mathematical model and connecting rod parameters are reasonable,all joint motions are correct and cotton-picking is realized.Based on the kinematics research of the single manipulator,the path planning and aiming to avoid obstacle will be investigated.

根据D-H法则和机械手的结构参数，建立了单机械手的运动学模型，采用反变换法求解运动学逆问题，利用MATLAB仿真，验证了所建模型和所有连杆参数的正确性，保证了机械手各关节的准确运动，实现了棉花的实时、高效采摘，并且可以在上述机械手运动学模型基础上开展轨迹规划和避障等技术研究。

Problems porduced in the application of manipulator for dipping EPC patterns into coating have been introcuced with effective solutions that an optimal route of manipulator in the space has been designed in accordance with technology requirement of dynamic dipping and mode parameter and machine instruction have been obtained by method of teaching and programming.Hence the whole dipping process being finished by motion of manipulator via controllet.

介绍了机械手在消失模铸造模样浸涂应用中出观的一些常见问题，并提供了行之有效的解决办法结合消失模铸造模样动态浸涂的工艺要求，设计出机械手在空间运行的最佳轨迹，运用示教和编程技法获得机械手运行的模态参数和机器指令，经由控制器驱动机械手抓取消失模模样并完成浸涂涂料的全过程。

The introductive robot arm of this text can output two lines pulses by the PLC, driving the horizontal stalk, and the perpendicular stalk to drive the electrical engineering actuator respectively, to control the robot arm precision of the horizontal stalk and perpendicular stalk at the fixed position, tiny move switch input the position signal to the PLC.The direct current motor drags along to begin the claw and bedrocks to revolve, the position signal from revolve the code dish and near to the switch feedback to host of PLC;The electromagnetism valve control the machine hand open and close, thus carry out the function of the machine hand precision work.

本文介绍的机械手是由PLC输出两路脉冲，分别驱动横轴、竖轴步进电机驱动器，控制机械手横轴和竖轴的精确定位，微动开关将位置信号传给PLC主机；直流电机拖动手爪和底盘旋转，位置信号由旋转码盘和接近开关反馈给PLC主机；电磁阀控制气开阀的开关来控制机械手手爪的张合，从而实现机械手精确运动的功能。

Panasonic will be graduating from the design of the programmable logic controller for small and medium-sized background on the use of PLC control driven two-cylinder complete robot control system for material handling work in the design and implementation of methods, the method mentioned on the high input and a pneumatic manipulator its control system efficiency, enhanced the expansion of the manipulator and transplantation, and complex pneumatic manipulator system for reference design development.

本毕业设计将以松下中小型可编程控制器为背景，介绍利用PLC控制2个气缸带动机械手完成物料搬运工作的控制系统的设计与实现方法，该方法提日投入高了气动机械手及其控制系统的开发效率，增强了该机械手的扩展性和移植性，并为复杂气动机械手系统的设计开发提供借鉴。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失