宁波大红鹰学院毕业设计（论文）外文翻译所在学院：机电学院班级：姓名：学号：指导教师：合作导师：年月日原文：题目 Robot's mechanical and control systems1、the general structure of the robot handA robot hand can be divided into two main subsystems: mechanical systems and control systems.Mechanical systems can be divided into structural design, drive systems and sensor systems, we will further introduce in the third part. In the fourth section describes the control system at least by the control hardware and control software.These two subsystems we will make some basic introduction to the problem, then use the Karlsruhe Dexterous Hand Ⅱ show you.2、the mechanical systemMechanical systems will describe how this looks, and by what hand components. It determines the structural design, the number of fingers and the use of materials. In addition, to determine the drive (such as motors), sensors (such as position encoder) position.2.1 Structural DesignStructural design of flexible robot will play a large role, that it can capture and what type of object can be grasped object what to do. Design of a robot hand, it must identify three basic elements: the number of fingers, finger joints and the number of dimensions and placement of the finger.To be able to work in the context of robot crawling and safe operation of the object, at least three fingers. To be able to be grasped object operations get six degrees of freedom (three translational and three rotational degrees of freedom), each finger must have three separate joints. In this way the first generation of Karlsruhe Dexterous hands are used too. However, in order to re-grasp an object without releasing it first, then pick up again, at least four fingers.2.2 Drive SystemKnuckle drive the opponent's flexibility also have a great impact, because it determines the potential strength, accuracy and speed of joint movement. Mechanical movement of the two areas which need to be considered: sources and movement direction of motion. In this regard, the literature describes several different methods, such as in [3] that by hydraulic cylinders or pneumatic cylinder in motion, or, as in most cases use the same motor. In most cases, the motion drive (such as a motor) is too large and not directly with the corresponding finger joints together, therefore, this movement must drive (usually located on the arm at the end of the connection point) transferred. There are several different ways to achieve this movement pattern, such as the use of keys, belt and the active axis. Using this method of indirect drive refers to the joint, reducing overall system more or less strength and accuracy, while the controlsystem more complicated, because the different joints of each finger is often mechanically linked together, but in control system software to actually control them independently. Due to these shortcomings, so the movement of small knuckle drive with a direct integration becomes very necessary.2.3 Sensor SystemsRobot's sensor system can pass on the feedback information from the hardware control software. Fingers or grasp objects of a closed-loop control is necessary. Machines used in the hands of three types of sensors:1) gripper status sensor to determine the location of the knuckles and fingers and finger force situation. Know the exact location will allow precise fingertip control becomes possible. In addition, knowing the role of the finger force on the grasped object, you can grab the fragile objects without breaking it.2) fingers and crawl status sensors provide the contact between the grasped object state information. This tactile information in a timely manner during the extraction process can determine the location of the object point of first contact, but also to avoid incorrect capture, such as the edges of objects and cutting-edge catch. In addition to the already grasped object can detect whether the fall, so as to avoid falling objects due to damage.3) the object state or attitude sensor used to determine the shape of the object within the fingers, position and direction. If you grab objects such information before the case is not clear, this sensor is very necessary. If this sensor can also act on the objects have been caught, then it can control the attitude object (position and orientation) in order to monitor whether the fall.Depending on the drive system, the location of the finger joints in the geometrical information campaign drive or directly in the joints of measure. For example, if the motor and refers to a rigid coupling between the joints, then you can use a motor shaft angle encoder (before or in gear after gear) to measure the joint position. But if this is not enough or the coupling stiffness to obtain high accuracy, then this method can not be used.2.4 Karlsruhe Dexterous Hand Ⅱ of mechanical systemsIn order to obtain such re-grasp the other more complex operations, Karlsruhe Dexterous Hand Ⅱ (KDH Ⅱ) formed by the four fingers and each finger consists of three independent joints form. Design of the hand to be able to apply in industrial environments (Figure 3) and the control box, cylinder and screw nut and other objects. Therefore, we use the same four fingers, to make them symmetrical, non-anthropomorphic configuration, and each finger can be rotated 90 °.View from the first generation design of the Karlsruhe Dexterous Hand experience gained, such as the belt caused by mechanical problems andlarger control problems caused by the friction factor, Karlsruhe Dexterous Hand Ⅱ with a number of different design decisions. Each finger joint 2 and joint 3 between the DC motor is integrated into the fingers in front of the body. This arrangement can be very hard ball with the motion transmission shaft gear to the finger joints. At the motor shaft angle encoder (in gear before) this time as a state of high precision position sensor.3、ConclusionTo make accurate and flexible robot to complete the operation, a suitable mechanical system and control system is required. The introduction of standards is necessary to be considered, as the article said. Karlsruhe Dexterous Hand Ⅱ performance was very successful. This robot can capture a wide range of different shapes, size and weight of objects. Grasped object posture can be controlled reliably, even in the case of external interference. In addition, this system, a complex of fine operations (such as heavy grasping) can be achieved. Robots in the human line of special research areas, based on a concept called the fluid of a different (Figure 2), based on a small robot also has anthropomorphic and mechanization. This concept was introduced by the Karlsruhe Research Center IAI suggested. However, the main structure of the control software can be modified through appropriate and for such small robot use.译文：题目机械手的机械和控制系统1、机器人手的一般结构一个机器人手可以分成两大主要子系统：机械系统和控制系统。