通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译中英文翻译外文翻译Word文档格式.docx

通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译中英文翻译外文翻译Word文档格式.docx

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通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译中英文翻译外文翻译@#@SELFRECONFlGURATlONOFUNDERACTUATEDREDUNDANTMANIPULATORSWITHOPTIMIZlNGTHEFLEXIBILITYELLlPSOlD@#@HeGuangpingSchooIofMechanicaIandElectricalEngineering，NorthChinaUniversityofTechnology,Beijing100041，China@#@LuZhenSchooIofAutomationScienceandElectricaIEngineering．BeijingUniversityofAeronauticsandAstronautics，Beijing100083，China@#@Abstract：

@#@Themulti—modesfeature，themeasureofthemanipulatingflexibility,andself-reconfigurationcontro1methodoftheunderactuatedredundantmanipulatorsareinvestigatedbasedontheopti—mizingtechnology．Therelationshipbetweentheconfigurationofthejointspaceandthemanipulatingflexibilityoftheunderactuatedredundantmanipulatorisanalyzed．anewmeasureofmanipulatingflexibilttyellipsoidfortheunderactuatedredundantmanipulatorwithpassiveointsinLockedmodejsproposed,whichcanbeusedtogettheoptimalconfigurationfortherealizationoftheself-reconfigurationcontrol．Furthermore．atime—varyingnonlinearcontro1methodbasedonhar．monicinputsissuggestedforfulfillingtheself-reconfiguration．Asimulationexampleofathree—Dofsunderactuatedmanipulatorwithonepassivejointfeaturessomeaspectsoftheinvestigations．@#@Keywords：

@#@UnderactuatedmanipulatorsSelfreconfigurationOptimizationNonlinearcontro1@#@0INTRODUCTION@#@Underactuatedmechanismandmanipulatorcanbeusedinsomefieldssuchasspacetechnology,cooperationrobotandmetamorphicmechanism．Inthespacefield，forthesakeofnolosingtheusefulfunctionorrealizingthereconfigurationofthesystem．thefaulttolerancebasedontheunderactuatedtechnologyisessentialwhensomeactuatedcomponentsrevealsometroubles⋯Anunderacmatedmanipulatoralsocanbedesignedasacoopera．tionrobotthatistosayC0B0T．ThedriversoftheCOBOTarenotforacreatingthemachinebutforprovidingaldnematicsconstraintthatisusuallynonholonomic．TheC0B0Tneedsoutside1oteethatisprovidedbyoperatorandcancompletesomeaccurateapphcatlonssuchasinbiologyengineenng，surgical，andsemiconductormanufactureandsoon．Inthefieldofmechanisms，themetamorphicmechanismhasmultimodesandcanbetrans．formedfromonemodetoanother,hadbeenpresentedrecentlyt,ThetransformationbetweenthediferentmodesislikelytoresultinchangeoftheDofsorconstraintsofthemetamorphicmechanism．Itisobviouslythatcontroltheunderactuated．Redundantactuatedandflexiblemechanismcannotbeevaded．Therefore。

@#@theunderacmatedsystembecomesanattractiveresearchfieldgradually@#@Theresearchesontheunderacmatedmanipulatorsmanifestthesystemcannotbecontrolledbykinematics．ThemotionofthepassiveiointcanbemovedbythedynamiccouplingonlyL4,3J．Jain，etalhaveshownthatthedynamiccouplingissecondordernonholonomiccons仃aints0ftheunderacmatedmanipulator．Incontrastwiththefactthatnonholonomicsystemisstdiedexten．sivelyaboutonehundredofyearsinmechanics．butthemotionplanningandcontrolofthenonholonomicsystemiSnolongerthantwodecade．andthestdieslimitedinthefirstordernon．holonomicsystem（suchaswheelmovingrobott／J,hoppingrobottandspacerobotWJ）mainly~Intheaspectoftheresearchontheun—deractuatedmanipulators．Anthoney．etalthaveinvestigatedthestabilityofthemotion．Arai．etalLIIJhaveproposedatime。

@#@Scalingmethodandachievedthepositioncontrolofthes3stem．Lee．etalLlZhavepresentedseveralkindsofnonlinearcontrolmetbodforun—deractuatedacrobot．Theseresearchesonthecontrolofunderac．matedsystemhaverevealedthatthesemethodsarenothingbutnonlinear,timevarying．anddiscreteinnature．ThefactismatBrockethaveprovedthatthereisnosmoothandstaticstatefeedback1awthatstabilizesthesystemtoagivenconfignrationasymptotically．Anobviousfeatureofthenonholonomicsystemistllatitiscontrollableinaconfigurationspacewithmoredimen．sionsthanthatoftheinputspace．S0matmuchatentionshavebeenpaidonthecontrolofthenonholonomicsystem．@#@TheunderactuatedmechanismormanipulatoralsoiSdisobedienttothefundamentalprincipleofthemechanismdesigningtheorythatjsthenumberoftheacmatedcomponentsshouldequaltothatoftheDOFsofthemechanism．Theunderactuatedmanipulatorhadbeensuggestedfirstlyisnotbyreasonthatithassomemeritsdistinctly，butsomeresearchesshowthattheunderactuatedmechanismdesignedpurposelyalsoisaluable．Forexample．Rivhter,havemeasuredmulti．dimensionsforcebyaflexibleunderactuatedmanipulator,Nakamura．etalthavedesignedanonholonomicmanipulatorbasedonthewheelrollingcontactandcontrolledafourDOFsplanarmanipulatorbytwo．Inputs,He．etalhaveproposedacollision．freemotionplanalgorithmfortheunderactuatedredundantmanipulator．Basedontheresultsthathavebeendiscussedabove。

@#@weCallconcludethattheinvesti