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

1、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#SELF RECONFlGURATlON OF UNDERACTUATED REDUNDANTMANIPULATORS WITH OPTIMIZlNGTHE FLEXIBILITY ELLlPSOlD#He Guangping SchooI of MechanicaI and Electrical Engineering，North China University of Technology,Beijing 1 00041，China#Lu Zhen SchooI of Automation Science and

2、 ElectricaI EngineeringBeijing University of Aeronautics and Astronautics，Beijing 1 00083，China#Abstract：#The multimodes feature，the measure of the manipulating flexibility,and self-reconfiguration contro1 method of the underactuated redun dantman ipulators are investigated based on the optimizing t

3、echnologyThe relationship between the configuration of the joint space and the manipulating flexibility of the underactuated redun dan t man ipulator is an alyzeda new measure of man ipulating flexibiltty ellipsoid for the underactuated redundant manipulator with passive oints in Locked mode jspropo

4、sed,which can be used to get the optimal configuration for the realization of the self-reconfiguration controlFurthermorea timevarying nonlinear contro1 method based on harmonic inputs is suggested for fulfilling the self-reconfigurationA simulation example of a threeDofs underactuated manipulator w

5、ith one passive joint features some aspects of the investigations#Key words：#Underactuated manipulators Selfreconfiguration Optimization Nonlinear contro1#0 INTRODUCTION#Underactuated mechanism and manipulator can be used in some fields such as space technology,cooperation robot and metamorphic mech

6、anismIn the space field，for the sake of no losing the useful function or realizing the reconfiguration of the systemthe fault tolerance based on the underactuated technology is essential when some actuated components reveal some troubles An underacmated manipulator also can be designed as a cooperat

7、ion robot that is to say C0B0T The drivers ofthe COBOT are not for acre ating the machine but for providing a ldnematics constraint that is usually nonholonomicThe C0B0T needs outside 1otee that is provided by operator and can complete some accurate apphcatlons such as in biology engineenng，surgical

8、，and semiconductor manufacture and so onIn the field of mechanisms，the metamorphic mechanism has multimodes and can be transformed from one mode to an other,had been presented recentlyt ,The transform ation between the diferent modes is likely to result in change of the Dofs or constraints of the me

9、tamorphic mechanismIt is obviously that control the underactuatedRedundant actuated an d flexible mechanism cannot be evadedTherefore。#the underacmated system becomes an attractive research field gradually#The researches on the underacmated manipulators manifest the system cannot be controlled by ki

10、nematicsTh e motion of the passive ioint can be moved by the dynamic coupling only L4,3JJain，etal have shown that the dynamic coupling is second order nonholonomic cons仃aints 0f the underacmated manipulatorIncontrast with the fact that nonholonomic system is st died extensively about one hundred of

11、years in mechan icsbut the motion planning an d control of the nonholonomic system iS no longer than tw o decadean d the st dies limited in the first order nonholonomic system （such as wheel moving robottJ,hopping robottand space robot WJ）mainlyIn the aspect ofthe research on the underactuated manip

12、ulatorsAnthoneyet alt have investigated the stability ofthe motionAraiet al LII J have proposed a time。#Scaling methodand achievedthe position control ofthe s3 stemLeeet al LlZ have presented several kinds of nonlinear control metbo d for underactuated acrobotThese researches on the control of under

13、acmated system have revealed that these methods are nothing but nonlinear,time varyingand discrete in natureThe fact is mat Brocket have proved that there is no smooth and static state feedback 1aw that stabilizes the system to a given confign ration asymptoticallyAn obvious feature of the nonholono

14、mic system is tllat it is controllable in a configuration space with more dimensionsthan thatoftheinput spaceS0matmuch atentions have beenpaid on the control of the nonholonomic system#The underactuated mechan ism or manipulator also iS disobedient to the fundamental principle of the mechanism desig

15、n ingtheory that js the number of the acmated components should equal to that of the DOFs of the mechanismThe underactuated manipulator had been suggested firstly is not by reason that it has some merits distinctly，but some researches show that the underactuated mechanism design ed purposely also is

16、 aluableForexampleRivhter, havemeasuredmultidimensions force bya flexible underactuated manipulator,Nakamuraetalt have design ed a nonholonomic manipulator based on the wheel rolling contact and controlled a four DOFs planar manipulator by twoInputs,Heetal have proposed a collisionfree motion plan algorithm for the un deractuated redundant manipulatorBased on the results that have been discussed above。#we Call conclude that the investi