1、外文原文：http:/ 毕业设计外文资料翻译 题 目 人工和工业机器人重复操作定位 学 院 机械工程学院 专 业 机械工程及自动化 &nb
2、sp; 班 级 学 生 学 号
3、 指导教师 二一四 年 三 月 三十 日 Computers in Biology
4、and Medicine 28 (1998) 415-421 Comparison of position repeatability of a human operator and an industrial manipulating robot Jure Zupancic*, Tadej Bajd Faculty of Electrical Engineering, University of Ljubljana, Trzaska 25, SI-1000 Ljubljana, Slovenia Received 8 December 1997 Abstract Ro
5、bot performance criteria of position repeatability are studied. Weight-to-payload ratio is in manipulating robots significantly higher than in human operators. Bracing strategy improving the robot performances is introduced in the paper. The strategy copies human behavior during fine motion operatio
6、ns. A comparison is made between the robot and the human operator performing approximately the same manipulating task. Contactless measurements of position repeatability were accomplished with the OPTOTRAK motion analysis system. The results of tests demonstrate considerable improvement of rob
7、ot and human operator's position repeatability when using bracing. 1998 Elsevier Science Ltd. All rights reserved. Keywords: Industrial robot； Human operator； Repeatability； Standards； Measurements； Bracing strategy 1 Introduction Modern robot manipulators replacing human opera
8、tor in assembly tasks 1 are usually designed in accordance with the principles encountered in humans and their arms and hands.The main goal of developing a mechanical counterpart to human operator is achieving of improved performances such as speed, payload capacity, position accuracy and repeatabil
9、ity.However, when the loads are not exceeding 3 kilograms, weight-to-payload ratio found in robots is reported to be ten times higher than the same ratio assessed in human operator 2.The reduction of this ratio is highly related to overall robot efficiency from technical and economical point of view
10、. Traditional principles for improving this ratio are introducing lighter materials 3, new construction solutions and design of new actuators. In a special case, it is possible to increase the robot absolute accuracy and repeatability by using appropriate bracing 4. The method of bracing 5 is a dire
11、ct copy of human behavior where the adaptation to higher accuracy and repeatability requirements during the fine motion operation is required. A human operator, when performing precise manipulation tasks, often finds supports for his forearm, wrist or elbow like in many working situations watch-make
12、rs are practicing. The same simple idea can be transferred - 1 - into robotics. Apart from some estimations, there was no explicit comparison made between human operator and adequate robot performances. The aim of this investigation was to make concise technical comparison of robot and h
13、uman operator performance with and without bracing. 2 Method Position repeatability tests were performed in accordance with ISO 9283 standard for manipulating industrial robots 6. The cube with maximum volume was located in the workspace of the most frequent anticipated use. Five points (P1-P5
14、) were located on the diagonals of the selected plane as shown in Fig.1 . Contactless OPTOTRAK/3010 motion analysis system was used for measuring of the actual positions (see Fig. 2). Measurements were taken at the poses P1, P2, P3, P4 and P5. The position repeatability expresses the closeness of th
15、e attained positions after 30 repeated visits to the same commanded position, as required by the ISO 9283 standard. The repeatability is calculated by the following equations: ,3 DSDr &nbs
16、p; (1) ,11 nj jDnD (2) ,)()()( 222 zzyyxxD jjjj (3) Fig. 1. Definition of the measuring points (P1-P5) inside the robot workspace.
