(完整word版)机械外文翻译外文文献英文文献一个复杂纸盒的包装机器人

工业机器人发展中英文资料外文翻译文献The development of industrial robotsIndustrial robot is a robot, it consists of a CaoZuoJi. Controller. Servo drive system and detection sensor device composition, it is a kind of humanoid operating automatic control, can repeat programming, can finish all kinds of assignments in three difficulties in authorship space the electromechanical integration automation production equipment, especially suitable for many varieties, become batch flexible production. It to stabilize and improve the product quality, raise efficiency in production, improve working conditions of the rapid renewal plays an extremely important role.Widely used industrial robots can gradually improve working conditions, stronger and controllable production capacity, speed up product updating and upgrading. Improve production efficiency and guarantee the quality of its products, eliminate dull work, save labor, provide a safe working environment, reduces the labor intensity, and reduce labor risk, improve the machine tool, reduce the workload and reduce process production time and inventory, enhance the competitiveness of enterprises.As technology advances, the development of industrial robot, the process can be divided into three generations -- generation, for demonstration reproduce, and it mainly consists of robot hand controller and demonstration teaching machines composed, can press advance box to record information guide action, the current industry repeated reappearance application of execution most. The second to feel robot, such as powerful sleep touch and vision, it has for some outside information feedback adjustment ability, currently has entered the application stage. Third generation of intelligent robot it has sense and understanding ability, in the external environment for the working environment changed circumstances, can also successfully complete the task, it is still in the experimental research phase.The United States is the birthplace of the robot, as early as in 1961, America's ConsolidedControlCorp and AMF companies developed the first practical demonstration emersion robot. After 40 years of development,the United States in the world of robotics has been in the lead position. Still Its technology comprehensive, advanced, adaptability is strong.Japan imported from America in 1967, the first robot in 1976 later, with the rapid development of the microelectronics and the market demand has increased dramatically, Japan was labor significant deficiencies in enterprise, industrial robots by "savior"'s welcome, make its Japanese industrial robots get fast development, the number of now whether robots or robot densities are top of the world, known as the "robot kingdom," said. The robot introduced from Germany time than Britain and Sweden about late 1956, but the Labour shortages caused by war, national technical level is higher social environment, but for the development and application of industrial robot provides favorable conditions. In addition, in Germany, for some dangerous prescribed, poisonous or harmful jobs, robot instead of ordinary people to the labor. This is the use of robots exploit a wide range of markets, and promote the development of the industrial robot technology. At present, the German industrial robots total of the world, which only behind to Japan.The French government has been more important robot technology, and through a series of research program, support established a complete science and technology system, make the development of the French robot smoothly. In government organization project, pay special attention to the robot research based technique, the focus is on the application research on in robot. And by industry support the development application and development of work, both supplement each other, make robots in France enterprises develop rapidly and popularize and make France in the international industrial machine with indispensable if position.British jamie since the late 1970s, promote and implement a department measures listed support the development of policies and make robots British industrial robots than today's robot powers started to early, and once in Japan has made the early brilliance. However, at this time the government for industrial robots implemented the constraining errors. This mistake in Britain dust, the robot industry in Western Europe was almost in the bottom of it. In recent years, Italy, Sweden, Spain, Finland, Denmark and other countries because of its own domestic robots market in great demand, development at a very fast pace. At present, the international on industrial robot company mainly divided into Japanese and European series. In AnChuan of Japanese are mainly the ethical products, the oTC, panasonic, FANLUC, not two more, etc. The products of the company kawasaki The main Asiatic KUKA, German CLOOS, Sweden's ABB, Italy CO work pelatiah U and Austria GM company.Industrial robot in China started in early 1970s, after 30 years development, roughly experienced three stages: in the 1970s and 1980s budding transplanter and the application of the 1990s initialization period. With the 20th century 70's world technology rapid development, the application of industrial robots in world created a climax, in this context, our country in 1972 start developing their industrial robots. Enter after the 1980s, with the further reform and opening, in high technology waves pound, our research and development of robot technology from the government's attention and support, "during the seventh state funds, thanked the parts were set robot and research, completed demonstration emersion type industrial robot complete technology development, developed spray paint, welding, arc welding and handling robot. , the national high technology research and development program begin to carry out, after several years research and made a large number of scientific research. Successfully developed a batch of special robot.From 9O 2O century since the early, China's national economy achieve two fundamental period of transformation into a a new round of economic restructuring and technological progress, China's industrial robots upsurge in practice and have made strides, and have developed spot welding, welding, assembling, paint, cutting, handling, palletizing etc various USES of industrial robot, and implement a batch of robot application engineering, formed a batch of industrial robots for our country industrialization base, the industrial robot soar laid a foundation. But compared with the developed countries, China also has the very big disparity of industrial robots.Along with the development of industrial robot depth and the breadth and raise the level of robot, industrial robots are has been applied in many fields. From the traditional automobile manufacturing sector to the manufacturing extensions. Such as mining robots, building robots and hydropower system used for maintenance robots, etc. In defense of military, medicine and health, food processing and life service areas such as the application of industrial robots will be more and more. The manufacturing of automobiles is a technology and capital intensive industry, is also the most widely used of industrial robots, accounting for almost to the industry for more than half of the industrial robots. In China, the industrial robot first is also used in automobile and engineering machinery industries. In car production of industrial robot is a major in the equipment, the brake parts and whole production of arc welding, spot welding, painting, handling, glue, stamping process used in large amounts. Our country is forecast to rise period, entered the automobile ownership in the next few years, car will still growing at around 15 percent annually. So the next few years the industrial robot demand willshow high growth trend, about 50% in growth, industrial robots in our automobile industry application will get a rapid development.Industrial robot in addition to the wide application of in the automotive industry in electronic, food processing, nonmetal processing, daily consumer goods and wood furniture processing industries for industrial robots demand is growing rapidly. In Asia, 2005 72,600 sets, installation industrial robots, compared with 2004 grew by 40%, and application in electronic industry accounted for about 31%. In Europe, according to statistics, since 2004 and 2005 in l: tI industry robot in the food processing industry increased 17% the application of left and right sides, in the application of nonmetal processing industry increased 20%, and daily necessities in consumption industries increased by 32% in wood furniture processing industry, up 18% or so. Industrial robot in oil has a wide application in, such as sea oil drilling, oil platforms, pipeline detection, refinery, large oil tank and tank welding etc all can use robots to complete. In the next few years, sensing technology, laser technology, engineering network technology will be widely used in industrial robots work areas, these technologies can cause the industrial robot application more efficient, high quality, lower cost. It is predicted that future robots will in medical and health care, biological technology and industry, education, relief, ocean exploitation, machine maintenance, transportation and agriculture and aquatic products applied field.In China, the industrial robot market share are mostly foreign industrial robots enterprise holds. Before the gunman in the international, domestic industrial robots enterprise facing great pressure of competition. Now China is from a "manufacturing power" to "manufacturing power forward," Chinese manufacturing industry faces and the international community, participate in the international division of labor in the great challenge of industrial automation increase immediate, government must can increase the funds for robots and policy support, will give the industry of industrial robots development into new momentum. With independent brand "devil robot" MoShi special technology company dedicated to providing solutions to the mainboard and robot, is willing with all my colleagues a build domestic industrial robot happy tomorrow!ReferencesElectronic Measurement and Intrumenttations,Cambridge University Press,1996工业机器人的发展工业机器人是机器人的一种，它由操作机．控制器．伺服驱动系统和检测传感器装置构成，是一种仿人操作自动控制，可重复编程，能在三难空间完成各种作业的机电一体化的自动化生产设备，特别适合于多品种，变批量柔性生产。

Autonomous robot obstacle avoidance using a fuzzy logic control schemeWilliam MartinSubmitted on December 4, 2009CS311 - Final Project1. INTRODUCTIONOne of the considerable hurdles to overcome, when trying to describe areal-world control scheme with first-order logic, is the strong ambiguity found in both semantics and evaluations. Although one option is to utilize probability theory in order to come up with a more realistic model, this still relies on obtaining information about an agent's environment with some amount of precision. However, fuzzy logic allows an agent to exploit inexactness in its collected data by allowing for a level of tolerance. This can be especially important when high precision or accuracy in a measurement is quite costly. For example, ultrasonic and infrared range sensors allow for fast and cost effective distance measurements with varying uncertainty. The proposed applications for fuzzy logic range from controlling robotic hands with six degrees of freedom1 to filtering noise from a digital signal.2 Due to its easy implementation, fuzzy logic control has been popular for industrial applications when advanced differential equations become either computationally expensive or offer no known solution. This project is an attempt to take advantage of these fuzzy logic simplifications in order to implement simple obstacle avoidance for a mobile robot. 2. PHYSICAL ROBOT IMPLEMENTATION2.1. Chassis and sensorsThe robotic vehicle's chassis was constructed from an Excalibur EI-MSD2003 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so high-density polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propanetorch was used to raise surface temperature and improve bonding with an epoxy adhesive.Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for distance measurements. In order to mount these appropriately, a 2.5 by 15 cm piece of aluminum was bent into three even pieces at 135 degree angles. This allows for the IR sensors to take three different measurements at 45 degree angles (right, middle, and left distances). This sensor mount was then attached to an HDPE rod with mounting tape and the rod was glued to the tank base with epoxy. Since the minimum distance that can be reliably measured with these sensors is 10 cm, the sensors were placed about 9 cm from the front of the vehicle. This allowed measurements to be taken very close to the front of the robot.2.2. ElectronicsIn order to control the speed of each motor, pulse-width modulation (PWM) was used to drive two L2722 op amps in open loop mode (Fig. 1). The high input resistance of these ICs allow for the motors to be powered with very little power draw from the PWM circuitry. In order to isolate the motor's power supply from the rest of the electronics, a 9.6 V NiCad battery was used separately from a standard 9 V that demand on the op amps led to a small amount of overheating during continuous operation. This was remedied by adding small heat sinks and a fan to the forcibly disperse heat.Fig. 1. The control circuit used for driving each DC motor. Note that the PWM signal was between 0 and 5 V.2.3. MicrocontrollerComputation was handled by an Arduino Duemilanove board with anATmega328 microcontroller. The board has low power requirements and modifications. In addition, it has a large number of prototyping of the control circuit and based on the Wiring language. This board provided an easy and low-cost platform to build the robot around.3. FUZZY CONTROL SCHEME FORIn order to apply fuzzy logic to the robot to interpret measured distances. While the final algorithm depended critically on the geometry of the robot itself and how it operates, some basic guidelines were followed. Similar research projects provided both simulation results and ideas for implementing fuzzy control.3,4,53.1. Membership functionsThree sets of membership functions were created to express degrees of membership for distances, translational speeds, and rotational speeds. This made for a total of two input membership functions and eight output membership functions (Fig.2). Triangle and trapezoidal functions were used exclusively since they are quick to compute and easy to modify. Keeping computation time to a minimum was essential so that many sets of data could be analyzed every second (approximately one every 40 milliseconds). The distance membership functions allowed the distances from the IR sensors to be quickly "fuzzified," while the eight speed membership functions converted fuzzy values back into crisp values.3.2.Rule baseOnce the input data was fuzzified, the eight defined fuzzy logic rules (Table I) were executed in order to assign fuzzy values for translational speed and rotation. This resulted in multiple values for the each of the fuzzy output components. It was then necessary to take the maximum of these values as the fuzzy value for each component. Finally, these fuzzy output values were "defuzzified" using themax-product technique and the result was used to update each of the motor speeds.(a)(b)(c)rotational speed. These functions were adapted from similar work done in reference 3.4. RESULTSThe fuzzy control scheme allowed for the robot to quickly respond to obstacles itcould detect in its environment. This allowed it to follow walls and bend aroundcorners decently without hitting any obstacles. However, since the IR sensors'measurements depended on the geometry of surrounding objects, there were times when the robot could not detect obstacles. For example, when the IR beam hit a surface with oblique incidence, it would reflect away from the sensor and not register as an object. In addition, the limited number of rules used may have limited the dynamics of the robot's responses. Some articles suggest as many as forty rules6 should be used, while others tend to present between ten and twenty. Since this project did not explore complex kinematics or computational simulations of the robot, it is difficult to determineexactly how many rules should be used. However, for the purposes of testing fuzzy logic as a navigational aide, the eight rules were sufficient. Despite the many problems that IR and similar ultrasonic sensors have with reliably obtaining distances, the robustness of fuzzy logic was frequently able to prevent the robot from running into obstacles.5. CONCLUSIONThere are several easy improvements that could be made to future iterations of this project in order to improve the robot's performance. The most dramatic would be to implement the IR or ultrasonic sensors on a servo so that they could each scan a full 180 degrees. However, this type of overhaul may undermine some of fuzzy logic's helpful simplicity. Another helpful tactic would be to use a few types of sensors so that data could be taken at multiple ranges. The IR sensors used in this experiment had a minimum distance of 10 cm, so anything in front of this could not be reliably detected. Similarly, the sensors had a maximum distance of 80 cm so it was difficult to react to objects far away. Ultrasonic sensors do offer significantly increased ranges at a slightly increased cost and response time. Lastly, defining more membership functions could help improve the rule base by creating more fine tuned responses. However, this would again increase the complexity of the system.Thus, this project has successfully implemented a simple fuzzy control scheme for adjusting the heading and speed of a mobile robot. While it is difficult to determine whether this is a worthwhile application without heavily researching other methods, it is quite apparent that fuzzy logic affords a certain level of simplicity in thedesign of a system. Furthermore, it is a novel approach to dealing with high levels of uncertainty in real-world environments.6. REFERENCES1 Ed. M. Jamshidi, N. Vadiee, and T. Ross, Fuzzy logic and control: software and hardware applications, (Prentice Hall: Englewood Cliffs, NJ) 292-328.2 Ibid, 232-261.3 W. L. Xu, S. K. Tso, and Y. H. Fung, "Fuzzy reactive control of a mobile robot incorporating a real/virtual target switching strategy," Robotics and Autonomous Systems, 23(3), 171-186 (1998).4 V. Peri and D. Simon, “Fuzzy logic control for an autonomous robot,” 2005 Annual Meeting of the North American Fuzzy Information Processing Society, 337-342 (2005).5 A. Martinez, E. Tunstel, and M. Jamshidi, "Fuzzy-logic based collision-avoidance for a mobile robot," Robotica, 12(6) 521–527 (1994).6 W. L. Xu, S. K. Tso, and Y. H. Fung, "Fuzzy reactive control of a mobile robot incorporating a real/virtual target switching strategy," Robotics and Autonomous Systems, 23(3), 171-186 (1998).采用模糊逻辑控制使自主机器人避障设计威廉马丁提交于2009年12月4日CS311 -最终项目1 引言其中一个很大的障碍需要克服，当试图用控制逻辑一阶来描述一个真实世界设计在发现在这两个语义评价中是个强大的模糊区。

原文AbstractA major independent oil and gas producer (Producer) with operations located on the Outer Continental Shelf of the Gulf of Mexico had several facilities damaged by Hurricane Ike. As a part of restoring operations, one of the offshore platforms was refurbished.The refurbishment included upgrading the production train to handle additional oil and gas production from other nearby production platforms. The additional production to the platform required a vapor recovery system to recover facility flash gas.The project team chose the scroll compressor vapor recovery unit (VRU) to recover and recompress the flash gas. The project was the first application of scroll compression technology for vapor recovery in an offshore environment.The Producer installed the VRU allowing the facility to recover flash gas from the oil storage tanks and excess unused flash gas from the oil treater. The average volume recovered was approximately 58,000 standard cubic feet of natural gas per day during the initial phase of the project. The methane content of the recovered natural gas was approximately 69 percent by volume. The estimated methane recovered was 0.84 US tons per day and the estimated recovery of greenhouse gases were 17.6 US tons per day CO2e. V olatile organic compounds (VOC) recovered were 1.0 US tons per day. The scroll compressor VRU met the regulatory requirements of the U.S. Minerals Management Service’s flaring and venting regulations. The projected payout was 15 months(simple payout).The significance of this project includes:1. First use of scroll compression technology in an offshore application2. Small physical footprint of unit important to offshore operations with limitedspace3. Scroll technology requires less maintenance than typical mechanical compressors4. Lower initial costs and lower operating costs enhance economics of recovery5. Recovered flash gas that contained volatile organic compounds (VOCs) andmethane, a greenhouse gasIntroductionMany oil and gas production platforms and pipelines operating in the Outer Continental Shelf of the Gulf of Mexico were damaged by Hurricane Ike in November of 2008. A major independent oil and gas producer (Producer) with operations located on the Gulf of Mexico had several facilities damaged by the storm. As a part of restoring operations, one the offshore platforms was refurbished. The refurbishment of the platform included upgrading and improving the production train to handle additional production from other nearby production platforms that could not send their production to the gathering pipelines due to the effects of Hurricane Ike. The additional production to the platform required the installation of a VRU to recover flash gas from the oil storage tanks. The Producer’s project team decided to utilize scroll compressors to recover and recompress the flash gas from the storage tanks and oil treater.The source of natural gas vapors from oil storage tanks include flashing losses,working losses and breathing losses. Flashing for a pressure vessel (e.g., separator, heater treater) or oil storage tank occurs when the crude oil or condensate with dissolved gases moves from a higher pressure to a lower pressure. As the pressure of the oil drops some of the lighter components dissolved in the oil are released or “flashed.” Working losses are due to displacement of the natural gas vapors within the storage tank vapor space as a tank is filled. Breathing losses are due to displacement of natural gas vapor within the storage tank vapor space due to changes in the tank temperature and pressure throughout the day. For this paper we refer to the vent gas from the oil storage tanks collectively as flash gas.Often flash gases from offshore production platforms are either vented directly to the atmosphere or burned by a flare. Historically VRUs have been used to recover flash gas when there is sufficient quantity to justify the investment and to meet air emission standards. The typical type of vapor recovery compressors used for vent flash gas has been natural gas driven rotary screw compressors and rotary vane compressors.The United States Minerals Management Service (MMS) is the regulatory agency with jurisdiction over venting of natural gas in the central and western areas of the Gulf of Mexico. MMS regulations require a facility to recover natural gas volumes over 50,000 standard cubic feet per day rather than venting directly to the atmosphere or burning in a flare. For offshore production platforms, deck space requirements are a significant consideration for vapor recovery units. To accommodate this limitation, the scroll compressor package has a footprint one-third the size of a traditional VRUs used. In addition, lower overall maintenance costs were a significant factor in the decision to utilize scroll compressor technology. The scroll compressor requires oil changes once per year compared to quarterly for the typical mechanical compressor. Equipment used in the offshore environment required capital upgrades to the typical onshore compression package due to the saltwater corrosive environment and additional safety controls required for operating offshore. For this project the standard onshore VRU was upgraded to meet specifications for the offshore conditions and regulations.Description and Application of Equipment and ProcessesScroll Compression Technology.Scroll compression technology is a positive displacement machine that uses two interleaved spiral-shaped scrolls to compress natural gas. With scroll compression technology, one of the scrolls is fixed, while the other orbits eccentrically, thereby trapping and pumping or compressing gas between through successively smaller scroll volume “pockets” until the gas reaches maximum pressure at the center. At the center, the gas is released through a discharge point in the fixed scroll. Compression is continuous since during orbit of the orbiting scroll, multiple gas pockets are compressed simultaneously.The driver for the compressor is an electric motor. The scroll compressor is a hermetic compressor designed for use with high-pressure refrigerants. It has a broad range of operation and is intrinsically leak free. Scroll compressor technology has been widely used in cooling system applications.The scroll compressor VRU installed had a horizontal design that has a low profile, low noise, low vibration, and uses variable speed control motors. Depending on the application, the range of inlet pressures of gas to the scroll compressor VRUs may vary from -10.4 to 101.3 pounds per square inch gage and the discharge pressures can range from 43.5 to 363 pounds per square inch gage. The compression ratio ranges from 3 to 15.Scroll compression technology has been used in oil and gas vapor recovery applications since 2004.Application of Scroll Technology.In May of 2009, COMM and the Producer began working together to modify a typical onshore scroll compressor VRU for the platform that was damaged and being refurbished.The scroll compressor VRU consisted of two stacked modules each 8-foot long by 4-foot wide by 4-foot high steel skids each with an inlet gas scrubber. Each module contained two 15-horsepower scroll compressors and an aftercooler. Each module also included a control panel with Programmable Logic Control (PLC) and variable frequency drive (VFD). The design recovery capacity of this twin module package used was 200,000 standard cubic feet per day.A suction line connected to the oil storage tanks’ common vent and to the oil treater (i.e., heater treater) vent was installed to the inlet scrubber of the scroll compressor VRU. The suction line to the oil treater was used to collect excess gas from the oil treater that was not used as platform fuel gas. A flow meter was placed on the suction line prior to the inlet of the scroll compressor VRU to measure the amount of natural gas recovered. The discharge of the scroll compressor package was piped to the suction separator/scrubber of the onsite main compressor. This main compressor compresses natural gas for ultimate injection into the sales pipeline.A purge gas system was installed and used to recycle gas through the scroll compressor VRU when there is insufficient pressure from flash gas in the storage tanks. The purpose of the purge gas system is to keep VRU operating to maintain the scroll compressor’s oil temperature at a minimum of 235 degrees Fahrenheit. By maintaining the oil temperature at or above 235 degrees F, the flash gas will remain in a gas phase.As a safety measure, a blanket gas system was installed on the storage tanks to maintain approximately 0.5 ounce per square inch of pressure on the tanks to keep oxygen from entering the tanks.Figure 1 contains a simplified process flow for the VRU.The control panels with VFD’s were located in the motor control center (MCC) and wiring was run to the scroll compressor VRU which was located on a lower deck of the platform.Functionally, the scroll compressor operates normally in the recycle mode at 2400 revolutions per minute (rpm). When the pressure builds in the oil storage tanks, a pressure transmitter sends a signal enabling the speed of the compressor to increase to 4800 rpms and the flash gas is recovered and compressed. Once the flash gas from the storage tanks is recovered and the pressure drops in the storage tanks, the VFD rampsthe compressor speed down to 2400 rpms. Then the VRU is in recycle mode again. Any liquids recovered by the gas scrubber are pumped back to the oil storage tanks. Modifications to VRU Package.To meet offshore specification, the structural components of the scroll compressor package were already hot dipped galvanized and suitable for offshore installation but other components required refinishing to withstand the corrosive saltwater environment. The compressors and several other components were removed from the modules and specially coated with a three part epoxy coating to withstand the corrosive environment.In addition to the special coatings needed for offshore, there was a number of safety system modifications needed to make the scroll compressor VRU compliant with the United States Minerals Management Service (MMS) regulations. Offshore operators are required to abide by the American Petroleum Institute (API) Recommended Practices 14C (RP 14C). API RP 14C contains the criteria for designing, installing and testing a safety system on an offshore platform. It identifies each undesirable event that could affect a process component and discusses safety device selection criteria for each component type.Failure to meet RP 14C requirements can result in fines to the operators and in some cases, require an interruption of production which could result in losses of income to the operator until compliance is restored.Specifically, the modifications in response to RP-14C were:1. Installation of test circuit for monthly testing of high level alarm/shutdown on the gas scrubber2. Installation of test circuit for monthly testing of high discharge pressurealarm/shutdown on compressor discharge line3. Installation of test circuit for monthly testing of low pressure alarm/shutdown on oil storage tanks4. Addition on redundant oil storage tank pressure transmitter. Installation of test circuit for monthly testing of high pressure alarm/shutdown on oil storage tanks. Additionally, the Producer’s offshore specifications required the repla cement of several valves to steel construction rather than brass.The scroll compressor VRU was shipped to the platform in July 2009. The interconnecting piping to and from the scroll compressor VRU was completed in August 2009. Once the installation was completed and the platform was placed into operation, the scroll compressor VRU was brought into operation.Presentation of Data and ResultsFor this installation, the scroll compressor VRU had an average recovery of tank flash gas over the initial operating period of 58,000 standard cubic feet per day. Thepeak flowrate documented was 215,000 standard cubic feet of flash gas per day. A sample of the recovered flash gas that was chemically analyzed had a molecular weight of 26.6 and contained approximately 69 percent by volume of methane. V olatile organic compounds (nonmethane, nonethane hydrocarbons) amounted to approximately 29 percent by volume. The higher heating value was approximately 1540 British Thermal Units (BTU) per standard cubic feet.The hydrogen sulfide content of the flash gas was considered de minimus based on the facility processing sweet natural gas.The calculated simple payout of this scroll compressor VRU based on the average recovery and gas price of USD 5/MMBTU is 15 months.The estimated methane emissions recovered were 0.84 US tons per day and the estimated recovery of greenhouse gases were 17.6 US tons per day CO2e. V olatile organic compound (VOC) emissions recovered were 1.0 US tons per day.The Producer is in the process of modifying the scroll compressor VRU control system. These modifications include the installation of a single programmable logic controller (PLC) to control both modules, replacement of pressure switches with transmitters and the installation of a touch screen control panel next to the VRU. The modifications are needed to meet the Producer’s operating standards. The cost of this modification will result in an extra initial cost of USD 8,000.ConclusionsThe application of scroll based compression technology in the harsh offshore environment is a cost effective and most efficient solution for vapor recovery. By utilizing scroll compression technology for vapor recovery, offshore operators can meet regulatory requirements to reduce emissions, improve their carbon footprint and economically recover flash gas.AcknowledgmentsOur sincerest thanks go to Mr. James Welsh and Mr. Ron Damron for their expertise and diligence in making this project successful.Reference List1. Emerson Climate Technologies. April 2008. A Hermetic Scroll Compressor For Application To High Heat-Of-Compression Gases,/oil_gas/PDF/HermeticScrollCompressorWhitePap er.pdf.2. RP 14C, Recommended Practice for Analysis, Design, Installation and Testing of Basic Surface Safety Systems on Offshore Production Platforms, sixth edition. March 1998. Washington, DC: API.第一篇：在海上生产平台上使用滚动压缩技术回收储存罐内闪发气体G.B.（比尔）施耐德，SPE, 布莱恩E. 博耶，SPE，马克A.古德伊尔，商科工程摘要位于墨西哥湾外大陆架的一个独立的石油天然气生产操作遭到飓风艾克的袭击并损坏了一些设施。

毕业论文中英文资料外文翻译文献专业机械设计制造及其自动化课题多自由度机械手机械设计英文原文Automated Tracking and Grasping of a Moving Object with a RoboticHand-Eye SystemAbstractMost robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.I. INTRODUCTIONThe focus of our work is to achieve a high level of interaction between real-time vision systems capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used to intercept, grasp, and pick up a movingobject. We are interested in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.There has been much research in robotics over the last few years that address either visual tracking of moving objects or generalized grasping problems. However, there have been few efforts that try to link the two problems. It is quite clear that complex robotic tasks such as automated assembly will need to have integrated systems that use visual feedback to plan, execute, and monitor grasping.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, using visual feedback to track, intercept, stably grasp, and pick up a moving object. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.Our work also addresses a very fundamental and limiting problem that is inherent in building integrated sensing actuation systems; integration of systems with different sampling and processing rates. Most complex robotic systems are actually amalgams of different processing devices, connected by a variety of methods. For example, our system consists of three separate computation systems: a parallel image processing computer; a host computer that filters, triangulates, and predicts 3-D position from the raw vision data; and a separate arm control system computer that performs inverse kinematic transformations and joint-level servicing. Each of these systems has its own sampling rate, noise characteristics, and processing delays, which need to be integrated to achieve smooth and stable real-time performance. In our case, this involves overcoming visual processing noise and delays with a predictive filter basedupon a probabilistic analysis of the system noise characteristics. In addition, real-time arm control needs to be able to operate at fast servo rates regardless of whether new predictions of object position are available.The system consists of two fixed cameras that can image a scene containing a moving object (Fig. 1). A PUMA-560 with a parallel jaw gripper attached is used to track and pick up the object as it moves (Fig. 2). The system operates as follows:1) The imaging system performs a stereoscopic optic-flow calculation at each pixel in the image. From these optic-flow fields, a motion energy profile is obtained that forms the basis for a triangulation that can recover the 3-D position of a moving object at video rates.2) The 3-D position of the moving object computed by step 1 is initially smoothed to remove sensor noise, and a nonlinear filter is used to recover the correct trajectory parameters which can be used for forward prediction, and the updated position is sent to the trajectory-planner/arm-control system.3) The trajectory planner updates the joint-level servos of the arm via kinematic transform equations. An additional fixed-gain filter is used to provide servo-level control in case of missed or delayed communication from the vision and filtering system.4) Once tracking is stable, the system commands the arm to intercept the moving object and the hand is used to grasp the object stably and pick it up.The following sections of the paper describe each of these subsystems in detail along with experimental results.П. PREVIOUS WORKPrevious efforts in the areas of motion tracking and real-time control are too numerous to exhaustively list here. We instead list some notable efforts that have inspired us to use similar approaches. Burt et al. [9] have focused on high-speed feature detection and hierarchical scaling of images in order to meet the real-time demands of surveillance and other robotic applications. Related work has been reported by. Lee and Wohn [29] and Wiklund and Granlund [43] who uses image differencing methods to track motion. Corke, Paul, and Wohn [13] report afeature-based tracking method that uses special-purpose hardware to drive a servocontroller of an arm-mounted camera. Goldenberg et al. [16] have developed a method that uses temporal filtering with vision hardware similar to our own. Luo, Mullen, and Wessel [30] report a real-time implementation of motion tracking in 1-D based on Horn and Schunk’s method. Vergheseetul. [41] Report real-time short-range visual tracking of objects using a pipelined system similar to our own. Safadi [37] uses a tracking filter similar to our own and a pyramid-based vision system, but few results are reported with this system. Rao and Durrant-Whyte [36] have implemented a Kalman filter-based decentralized tracking system that tracks moving objects with multiple cameras. Miller [31] has integrated a camera and arm for a tracking task where the emphasis is on learning kinematic and control parameters of the system. Weiss et al. [42] also use visual feedback to develop control laws for manipulation. Brown [8] has implemented a gaze control system that links a robotic “head” containing binocular cameras with a servo controller that allows one to maintain a fixed gaze on a moving object. Clark and Ferrier [12] also have implemented a gaze control system for a mobile robot. A variation of the tracking problems is the case of moving cameras. Some of the papers addressing this interesting problem are [9], [15], [44], and [18].The majority of literature on the control problems encountered in motion tracking experiments is concerned with the problem of generating smooth, up-to-date trajectories from noisy and delayed outputs from different vision algorithms.Our previous work [4] coped with that problem in a similar way as in [38], using an cy- p - y filter, which is a form of steady-state Kalman filter. Other approaches can be found in papers by [33], [34], [28], [6]. In the work of Papanikolopoulos et al. [33], [34], visual sensors are used in the feedback loop to perform adaptive robotic visual tracking. Sophisticated control schemes are described which combine a Kalman filter’s estimation and filtering power with an optimal (LQG) controller which computes the robot’s motion. The vision system uses an optic-flow computation based on the SSD (sum of squared differences) method which, while time consuming, appears to be accurate enough for the tracking task. Efficient use of windows in the image can improve the performance of this method. The authors have presented good tracking results, as well as stated that the controller is robust enough so the use ofmore complex (time-varying LQG) methods is not justified. Experimental results with the CMU Direct Drive Arm П show that the methods are quite accurate, robust, and promising.The work of Lee and Kay [28] addresses the problem of uncertainty of cameras in the robot’s coordinate frame. The fact that cameras have to be strictly fixed in robot’s frame might be quite annoying since each time they are (most often incidentally) displaced; one has to undertake a tedious job of their recalibration. Again, the estimation of the moving object’s position and orientation is done in the Cartesian space and a simple error model is assumed. Andersen et al. [6] adopt a 3rd-order Kalman filter in order to allow a robotic system (consisting of two degrees of freedom) to play the labyrinth game. A somewhat different approach has been explored in the work of Houshangi [24] and Koivo et al. [27]. In these works, the autoregressive (AR) and auto grassier moving-average with exogenous input (ARMAX) models are investigated for visual tracking.Ш. VISION SYSTEMIn a visual tracking problem, motion in the imaging system has to be translated into 3-D scene motion. Our approach is to initially compute local optic-flow fields that measure image velocity at each pixel in the image. A variety of techniques for computing optic-flow fields have been used with varying results includingmatching-based techniques [5], [ 10], [39], gradient-based techniques [23], [32], [ 113, and patio-temporal, energy methods [20], [2]. Optic-flow was chosen as the primitive upon which to base the tracking algorithm for the following reasons.·The ability to track an object in three dimensions implies that there will be motion across the retinas (image planes) that are imaging the scene. By identifying this motion in each camera, we can begin to find the actual 3-D motion.·The principal constraint in the imaging process is high computational speed to satisfy the update process for the robotic arm parameters. Hence, we needed to be able to compute image motion quickly and robustly. The Hom-Schunck optic-flow algorithm (described below) is well suited for real-time computation on our PIPE image processing engine.·We have developed a new framework for computing optic-flow robustly using anestimation-theoretic framework [40]. While this work does not specifically use these ideas, we have future plans to try to adapt this algorithm to such a framework.Our method begins with an implementation of the Horn-Schunck method of computing optic-flow [22]. The underlying assumption of this method is theoptic-flow constraint equation, which assumes image irradiance at time t and t+σt will be the same:If we expand this constraint via a Taylor series expansion, and drop second- and higher-order terms, we obtain the form of the constraint we need to compute normal velocity:Where u and U are the velocities in image space, and Ix, Iy,and It are the spatial and temporal derivatives in the image. This constraint limits the velocity field in an image to lie on a straight line in velocity space. The actual velocity cannot be determined directly from this constraint due to the aperture problem, but one can recover the component of velocity normal to this constraint lineA second, iterative process is usually employed to propagate velocities in image neighborhoods, based upon a variety of smoothness and heuristic constraints. These added neighborhood constraints allow for recovery of the actual velocities u,v in the image. While computationally appealing, this method of determining optic-flow has some inherent problems. First, the computation is done on a pixel-by-pixel basis, creating a large computational demand. Second, the information on optic flow is only available in areas where the gradients defined above exist.We have overcome the first of these problems by using the PIPE image processor [26], [7]. The PIPE is a pipelined parallel image processing computer capable of processing 256 x 256 x 8 bit images at frame rate speeds, and it supports the operations necessary for optic-flow computation in a pixel parallel method (a typical image operation such as convolution, warping, addition subtraction of images can be done in one cycle-l/60 s).The second problem is alleviated by our not needing to know the actual velocities in the image. What we need is the ability to locate and quantify gross image motion robustly. This rules out simple differencing methodswhich are too prone to noise and will make location of image movement difficult. Hence, a set of normal velocities at strong gradients is adequate for our task, precluding the need to iteratively propagate velocities in the image.A. Computing Normal Optic-Flow in Real-TimeOur goal is to track a single moving object in real time. We are using two fixed cameras that image the scene and need to report motion in 3-D to a robotic arm control program. Each camera is calibrated with the 3-D scene, but there is no explicit need to use registered (i.e., scan-line coherence) cameras. Our method computes the normal component of optic-flow for each pixel in each camera image, finds a centurion of motion energy for each image, and then uses triangulation to intersect the back-projected centurions of image motion in each camera. Four processors are used in parallel on the PIPE. The processors are assigned as four per camera-two each for the calculation of X and Y motion energy centurions in each image. We also use a special processor board (ISMAP) to perform real-time histogram. The steps below correspond to the numbers in Fig. 3.1) The camera images the scene and the image is sent to processing stages in the PIPE.2) The image is smoothed by convolution with a Gaussian mask. The convolution operator is a built-in operation in the PIPE and it can be performed in one frame cycle. 3-4) In the next two cycles, two more images are read in, smoothed and buffered, yielding smoothed images Io and I1 and I2.The ability to buffer and pipeline images allows temporal operations on images, albeit at the cost of processing delays (lags) on output. There are now three smoothed images in the PIPE, with the oldest image lagging by 3/60 s.5) Images Io and I2, are subtracted yielding the temporal derivative It.6) In parallel with step 5, image I1is convolved with a 3 x 3 horizontal spatial gradient operator, returning the discrete form of I,. In parallel, the vertical spatial gradient is calculated yielding I, (not shown).7-8)The results from steps 5 and 6 are held in buffers and then are input to alook-up table that divides the temporal gradient at each pixel by the absolute value of the summed horizontal and vertical spatial gradients [which approximates thedenominator in (3)]. This yields the normal velocity in the image at each pixel. These velocities are then threshold and any isolated (i.e., single pixel motion energy) blobs are morphologically eroded. The above threshold velocities are then encoded as gray value 255. In our experiments, we threshold all velocities below 10 pixels per 60 ms to zero velocity.9-10) In order to get the centurion of the motion information, we need the X and Y coordinates of the motion energy. For simplicity, we show only the situation for the X coordinate. The gray-value ramp in Fig. 3 is an image that encodes the horizontal coordinate value (0-255) for each point in the image as a gray value.Thus, it is an image that is black (0) at horizontal pixel 0 and white (255) at horizontal pixel 255. If we logically and each pixel of the above threshold velocity image with the ramp image, we have an image which encodes high velocity pixels with their positional coordinates in the image, and leaves pixels with no motion at zero.11) By taking this result and histogram it, via a special stage of the PIPE which performs histograms at frame rate speeds, we can find the centurion of the moving object by finding the mean of the resulting histogram. Histogram the high-velocity position encoded images yields 256 16-bit values (a result for each intensity in the image). These 256 values can be read off the PIPE via a parallel interface in about 10 ms. This operation is performed in parallel to find the moving object’s Y censored (and in parallel for X and Y centurions for camera 2). The total associated delay time for finding the censored of a moving object becomes 15 cycles or 0.25 s.The same algorithm is run in parallel on the PIPE for the second camera. Once the motion centurions are known for each camera, they are back-projected into the scene using the camera calibration matrices and triangulated to find the actual 3-D location of the movement. Because of the pipelined nature of the PIPE, a new X or Y coordinate is produced every 1/60 s with this delay. While we are able to derive 3-D position from motion stereo at real-time rates, there are a number of sources of noise and error inherent in the vision system. These include stereo triangulation error, moving shadow s which are interpreted as object motion (we use no special lighting in the scene), and small shifts in censored alignments due to the different viewing angles of the cameras, which have a large baseline. The net effect of this is to create a 3-Dposition signal that is accurate enough for gross-level object tracking, but is not sufficient for the smooth and highly accurate tracking required for grasping the object.英文翻译自动跟踪和捕捉系统中的机械手系统摘要——许多机器人抓捕任务都被假设在了一个固定的物体上进行。

Weld robot application present conditionAccording to incompletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu Han.What we say's welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but constitute.In many task environments, a set robot even can complete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the completion corresponds of task.Therefore, come up to say from a certain meaning, the development history of industrial robot is the development history that welds robot.Know to all, weld to process to request that welder have to have well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welder's labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time.However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to change.Handicraft Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to"see" this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don't seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning.Actually, industrial robot at welded the application of realm to produce on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower request.Order the Han robot assembles to produce a great deal of on-line application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want ～only change procedure, can produce in the same on-line carry on assemble to weld todifferent cars type.BE born till the beginning of this 80's in century from the robot, the robot technique experienced a development process of long term slowness.90's, along with the rapid development of calculator technique, micro-electronics technique, and network technique...etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the person's labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with compared in the past;And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price compare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower.Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare to adopt the benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest nation.Go to at the end of 2004 the whole world to have at least in the industrial robot of service about 1,000,000.Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to combine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu withinassemble process Han.Robot's giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.Moreover, robot's giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc..Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy...etc.) get an application in the material in the car structure.These materials' welding usually can not solve with the welding of tradition method, have to adopt to lately weld a method and weld a craft.Among them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub combining of Han to become inevitable trend.Be like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld.Give or get an electric shock Hu Han to compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghai's car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry person's arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformationand each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn't unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very important.Different treatment of system to this problem of the robot control doesn't exert a homology.Is general to come to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.For some weld situation, work piece because of leading big or the space is several what the shape is too complicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this ually have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot;Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Han's sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a track.Although this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance efficiency.But because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.Two is the way that adopts a completely off-line plait distance, make the robot weld drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to compute in a set to independently complete on board,don't need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of "conjecture show to teach"(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the space acquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio...etc..Figure 9 show develop by oneself for the writer of according to PC of 3D can see to turn an off-line plait distance of robot system.The system can IRB140 robots aiming at ABB company carry on an off-line plait distance, the Han in the procedure sews a track to pass conjecture to show to teach to acquire, and can let the robot press the track in the procedure to imitate sport in the 3D sketch environment, examine its accuracy and rationality with this.The procedure woven can pass a network directly the download to the robot controller.The industrial robot of our country"75" science and technologies offend a pass to start starting from the 80's, currently already basic control a robot operation of the design manufacturing of the machine technique, control system hardware and software to design technique, kinetics and track to program a technique, gave birth to parts of robot key dollar spare part, develop to spray a paint, Hu Han and order robots, such as Han, assemble and porterage...etc.;The robot of Hu Han has already applied in the Han of car manufactory to pack on-line.But total of come to see, our country of industrial robot technique and it engineering application of level and abroad than still have certain distance, such as:Credibility low outside the country product;The robot application engineering starts a little bit late and apply realm narrow, production line system technique and abroad than have a margin;The applied scale is small, didn't form robot industry.The robot of the current our country the production is all request that applies a door, list door the single time re- design, the species specification is many, small batch quantity, zero partses are in general use to turn degree low, provide a goods period long, the cost is not low either, and the quality, credibility is unsteady.Consequently and urgently need to solve industry to turn an ex- key technique for expecting, Be to the product carry on programing completely, make good series to turn, in general use turn, the mold piece turn a design and actively push forward industry to turn progress.3, weld robot development trendThe international robot boundaries are enlarging a research, carry on robot currently totaltechnical research.The development trend sees from the robot technique, weld robot similar to the other industrial robot, continuously turn to the intelligence and diversify a direction to develop.Is concrete but talk, performance in as follows a few aspects:1).The robot operates machine structure:Pass a limited dollar the analysis and mold Tai analyze and imitate the usage of true design etc. modern design method and carry out robot operation organization of excellent turn a design.Quest high strength light quality material, raise a load further|hold with dignity a ratio.For example, take Germany's KUKA company as the representative's robot company, have already merged robot the parallelogram structure change to opening chain structure and expand the work scope of robot, the application of light quality aluminum metal alloy material add, consumedly raise the function of robot.The RV that in addition adopts a forerunner decelerates a machine and communicates servo electrical engineering, make robot operation machine almost become don't need support system.The organization facing mold piece turns and can weigh to reach a direction development.For example, the servo electrical engineering in the joint mold piece, decelerate machine and examine system Christian Trinity to turn;From joint mold piece, connect a pole mold piece is constructed robot the whole machine with the reorganization method;The abroad has already had the mold piece the disguise to go together with a robot product to ask city.The structure of the robot is getting clever, control system smaller and smaller, twos just turn a direction development toward the integral whole.The adoption merges organization and makes use of a robot technique, realization Gao accuracy measure and process, this is the robot technique to number control technique of expand, carried out robot and number to control technique integral whole to turn to lay foundation for future.Italian COMAU company, companies like Japan FANUC,etc developed this kind of product.焊接呆板人应用现状据不完全统计，全世界在役的产业呆板人中约莫有快要一半的产业呆板人用于种种形式的焊接加工领域，焊接呆板人应用中最普遍的主要有两种方法，即点焊和电弧焊。

中英文对照外文翻译文献(文档含英文原文和中文翻译)原文：ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial rob ot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and mac hines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operat ions and a variety of environments the ability to complete the work in the field of national econom y and there are broad prospects for development. With the development of industrial automation, t here has been CNC machining center, it is in reducing labor intensity, while greatly improved labo r productivity. However, the upper and lower common in CNC machining processes material, usua lly still use manual or traditional relay-controlled semi-automatic device. The former time-consum ing and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fa ult more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydrau lic technology, automatic control technology, sensor technology and computer technology and oth er fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products ind ustry, although still a labor-intensive, mechanical hand use has become increasingly popular. Elect ronics and automotive industries that Europe and the United States multinational companies very e arly in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, beca use they have to face a high turnover rate of workers, as well as for the workers to pay work-relate d injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and asse mbly operations since, which has more and more attracted our attention. Robot is to imitate the ma nual part of the action, according to a given program, track and requirements for automatic capture , handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading ti me is not annoying, and labor productivity is not high, the cost of production major, and sometime s man-made incidents will occur, resulting in processing were injured. Think about what could rep lace it with the processing time of a tour as long as there are a few people, and can operate 24 hour s saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor produ ctivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularl y in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would l ike to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the comp ressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, do es not require recycling and disposal, do not pollute the environment. (Concept of environmental p rotection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas pa th pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic t ransmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aer odynamic stability of the work, resulting in the implementing agencies as the precision of the velo city and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantage s:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impa ct on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-d istance transport.The lower working pressure of compressed air, pneumatic components and therefore the materi al and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 t o 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of th e outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in fl ammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmis sion systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institution s, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffin g of similar actions. Wrist and fingers and the arm connecting the components can be up and down , left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the ar m can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly us ed manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power tra nsmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated co ntrol system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Actio n will have to use complex programmable robot controller, the micro-computer control. Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not re quire manual hand. It is an independent not affiliated with a particular host device. It can be progra mmed according to the needs of the task to complete the operation of the provisions. It is character ized with ordinary mechanical performance, also has general machinery, memory, intelligence tern ary machinery. The second category is the need to manually do it, called the operation of aircraft. I t originated in the atom, military industry, first through the operation of machines to complete a pa rticular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third category is ded icated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign count ries known as the "Mechanical Hand", which is the host of services, from the host-driven; excepti on of a few outside the working procedures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stac king robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, p neumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, e tc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam cran e)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new ty pe of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology , which further promoted the development of robot, allowing robot to better achieved with the com bination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work an d labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combinat ion machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to asse mble printed circuit boards, in the machinery industry It can be used to assemble parts and compo nents.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working e nvironment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and haza rdous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, ma nual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving tec hnology for material handling operations booster equipment, belonging to kinds of non-standard d esign of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects o r perform household tools to accomplish certain specific actions. Application of robot can replace t he people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and aut omation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe roo m to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unl oading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completio n of the upper and lower material, or From the library take place knife knife and so on according t o fixed procedures for the replacement operation. Robot body mainly by the hand and sports instit utions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pn eumatic ﹑﹑ electrical device drivers. Manipulator can be achieved independently retractable ﹑rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in me tallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handlingobjects or operating tools, automatic operation device. It can replace human labor in order to achie ve the production of heavy mechanization and automation that can operate in hazardous environm ents to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, e lectronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment co mmonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manip ulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or t ool) components, according to grasping objects by shape, size, weight, material and operational re quirements of a variety of structural forms, such as clamp type, type and adsorption-based care suc h as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mo bile or compound movements to achieve the required action, to change the location of objects by g rasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece f eatures automatic device, which is mechanized and automated production process developed a ne w type of device. In recent years, as electronic technology, especially computer extensive use of ro bot development and production of high-tech fields has become a rapidly developed a new technol ogy, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of d uplication of boring work, to reduce human labor intensity and improve labor productivity. Manip ulator has been applied more and more widely, in the machinery industry, it can be used for parts a ssembly, work piece handling, loading and unloading, particularly in the automation of CNC mach ine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component o f the FMC. The machine tool equipment and machinery in hand together constitute a flexible man ufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume pr oduction, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterpr ises to continuously update the marketable variety, improve product quality, and better adapt to ma rket competition. At present, China's industrial robot technology and its engineering application le vel and comparable to foreign countries there is a certain distance, application and industrializatio n of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Theref ore, the study of mechanical hand design is very meaningful.译文：机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

中英文对照资料外文翻译文献打包机打包机是一种农业机械,它用于压缩已切割和倾斜的作物（如草、稻草或青贮饲料）成易于处理、运输和储存的小包。

常用的打包机有几个不同类型,分别生产不同类型的包-矩形的、圆柱形的,大小各不相同,用麻绳、网或金属丝缠绕起来。

工业打包机还可以用在材料回收设备上,主要用于包装需要运输的金属、塑料或纸。

圆形打包机在工业化国家最常用的打包机是这种又大又圆的打包机。

它生产圆柱状的“圆”或“筒状”的包。

草在打包机内被捲起，使用橡胶带、固定滚筒,或两者的组合。

当包达到规定尺寸时,用网或麻绳裹住它,以保持其固有的形状。

打包机的后面打开,包被排出。

包在这个阶段完成,但也可以用塑料薄膜包裹,当在室外储存时能保持干草的干燥或者将潮湿的草变成青贮饲料。

可变仓打包机通常生产直径为48至72英寸（120~ 180厘米）、宽达60英寸（150厘米）的包。

无论在任何地区，这些包可以重达1100至2200磅（500-1000公斤），包的重量取决于大小，材料，和水分含量。

最初，圆形打包机的构思由Ummo Luebbens于大约1910年提出,第一台圆形打包机才生产出来,一直到1947年Allis-Chalmers 引进了旋转打包机之后。

由于它的干草包脱水干燥和重量轻的特点从而得以推向市场，到1960年生产结束时，AC已经销售了近70000台接下来的一个重大创新是在1972年，当时Vermeer公司开始出售其型号为605的第一台现代圆形打包机。

以前,圆的干草包仅仅是干草缚在一起的肿块,但Vermeer设计使用皮带将干草紧密结合起来形成一个圆柱体,正如今天所看到的样子。

大型矩形打包机另一种常用类型的打包机生产大型的矩形包,每个包缠绕半打左右的麻绳,然后再打结。

这样的包非常紧凑，重量又普遍比圆形的包大几分。

在加拿大的草原，它们被称为草原猛禽。

小型矩形打包机这种打包机现今是不常见的,但在许多国家却是相当流行,如新西兰和澳大利亚,除了大型包的生产，还生产小型矩形 (通常被称为“正方形的”) 包。

外文原文：A complex carton packaging robotVenketesh N. DubeyBritish School of Design, engineering and computers, Bournemouth University, PooleJian of S. DaiKing's College London, University of London, LondonObjective - To demonstrate the feasibility of the design of a complex geometry multifunctional tray packaging machine can be foldedDesign / methodology / approach - The study to study various geometric shapes tray, the tray is divided into the appropriate type and machine operation can be achieved; processing tray and mechanical modeling and simulation, and the final design and Ultimately allows the conceptualization of the design and development of packaging machine.The findings - This multi-functional packaging machine has proved to be possible. Just this versatile packaging machine miniaturization, and investment in order to promote their development, this machine can become a reality.Limitations of the study factors / - The purpose of this study is to prove that the principle of such a packaging machine, but the practical application need to consider the sensor gives a compact, portable system.Creative / value - This design is unique, and has been shown to complex shapes can be folded carton. Keywords: robotics Packaging Automation.AbstractProduct packaging is one of the key industrial areas, the primary interest in automation. The circulation of any product to the hands of consumers need some form of packaging, food, gifts, or medical supplies. Therefore, the continued demand for high-speed product packaging. For cyclical consumer goods and gifts, this requirement is greatly increased. They require innovative packaging design and attractive in order to attract potential customers. Usually these products look beautiful, complex shape of the tray delivery. If you use the manual method for packaging, not only the workers are tedious and complicated to operate, but also time-consuming and monotonous.For simple carton packaging, by dedicated machines arranged along the conveyor belt, has received implementation. These machines can only handle a fixed type tray, any shape and structural changes is difficult to be incorporated into the system. In most cases, they are more than 40 kinds of changes needed to adapt the same type but of different sizes tray, which means that each particular type of tray needs a packaging production line. Conversion from one type to another type of paper folding assembly line will be the increase in capital spending. Because of the costs associated with these constraints and convert production lines, packaging flexibility will be lost.Therefore, as a complement to the manual production lines are introduced in order to adapt to the production of different types of carton, so as to solve the problem of the conversion of production lines. They bear about 10% of the work orders, and is used as the assembly line for production of promotional products. However, the problem still exists, administrators and operators manual production line requires a long learning process, and machine production line, labor injury is due to twisting hand movements. Inaddition, manual production lines are usually considered to be a seasonal productivity, and specialized machines still need to run for many years, in order to save cost and time. Designers to pursue fantasy and unique carton packaging in response to competitive market the packaging work more difficult. Frequent changes of style and type of carton and small batch tray assembly and packaging lines posed a challenge to do this need to design a flexible machine.So the responsibility on the packaging industry body, fully programmable and reconfigurable systems helps speed up the conversion process to handle different types of carton. This flexible and highly reconfigurable system development requires a systematic analysis and synthesis of each component, folding cartons and cartons mode and packing boxes, machine, complete assembly operations. One such method (Lu and Akella, 2000) has been published, this method uses fixtures to folding cartons. Although this method is able to complete all folding carton operation, but the implementation is just a simple rectangular box, the fixed automatic device is installed in the specified location. However, for complex geometry tray, tray and folding mechanism into account, in order to achieve flexible packaging production line automation.In the complex folding carton operation and process analysis, the authors carried out a lot of research, and resorting to graph theory, spiral theory, matrix theory and a spatial structure of said tray; their research carton mobility and analysis its structural shape (Dai and Rees Jones, 1997a, b, c, 1999; Dubey et al. 1999a, b, c; Dubey and Dai, 2001). This article describes the in reconfigurable carton folding machine designed to handle complex geometry cassette.The needs of the design principleThe project is listed on the wish list of many cosmetics and perfumes suppliers, such as Elizabeth Arden and Calvin Klein, by Unilever Research UK actively considering a number of years. They are willing to support any kind of to be able to use alternative means to achieve the fancy carton packaging process automation ideas. A result, this project is sponsored by a consortium of British and Dutch Unilever, to explore the feasibility of the development of a tray that can handle a variety of shapes and sizes of flexible packaging machine. The study was conducted by manual packaging process, revealing when converted to a complex production from simple carton production, packaging machine has a high flexibility (Dai, 1996). This tray with an irregularly shaped cardboard folded. Since cardboard is broken, it has a certain surface activity can be rotated around the crease lines. These crease lines to facilitate folding, resulting in a shape shift. Figure 1 shows a fancy carton folding process, the cardboard is folded into the shape of a tent. Usually this complex and small batch tray made by hand.The process of fancy folding cartonsThe force in manual packagingManual packaging process, the side of the folded finger, as shown in Figure 2, along the direction of the arrows around the three axes is folded, while the top and bottom surfaces is folded along a planar direction of the arrows with the palm. The arrows represent the unwinding force is applied with your fingers, flat arrows represent thrust is applied. In the closed intermediate layer, delicate fingers cross the face insert designed gap.Summarized folding step, the carton in a variety of shapes, and the tray is classified, as shown in Figure 3. It also shows the various operations involved in the carton packaging. In particular, to note that most of the tray must go through three steps, erected, insert [1] and closed. But in addition to the tray outside the tray, in other cases, based on the complexity of the tray shape, the packaging step involves various operations (some of which are described above).The operations of carton packagingThe design of a mechanical system construction and folding cartons need to consider the following:● multi-functional. Provide a variety of functions, including dial, fold, squeeze and twist operation.● flexible. The operating position can be achieved in different ways.● Control the minimum number of axes. Reduce system complexity.● reconfigurability. To deal with a variety of different geometries folding carton.● programmability. Simultaneously, the sequential control of a plurality of axes of motion.A flexible system that can provide fine motor and operating functions, you need to use the relevant section of the finger-like links. So that the finger is mounted on a movable base, for example, the XY table or the ring guides way, in order to ensure that the system can re-build and handle different shapes and sizes of the tray. The controller architecture should be able to be driven independently of each axis. The design should provide all the operating functions, without making the system becomes complex, thus making it acost-effective solution.Packaging machineThe original design based on the above criteria is conceptualized and modeling, asshown in Figure 4. Manpower to be able to demonstrate a variety of functions is based on manpower flexibility and versatility. The design has four fingers, two of which are three degrees of freedom, two of which are two degrees of freedom. The three degrees of freedom of the joints of the fingers through the bottom of the deflection movement (Y), rely on the remaining two joints for pitch motion (P), thereby forming the YP-P configuration. The two-degree-of-freedom fingers can only be done in a two-dimensional plane pitching motion.Packaging machine modelT he finger is mounted on the guide rail can be moved transversely movable along the slide rail, but the rail itself. The fingers are mounted on the rotating base, these axes can be appropriately adjusted. The two clamp hand propulsive movement in the direction parallel to the finger horizontal rail, as shown in the model. The baffle is attached to the hands of the clamp, and is mounted in the bottom of the joint, when the push operation, they can follow the contour of the tray movement. The tray is placed in the square at the center of the bottom of the base, the base is driven by an electric motor for vertical movement and rotation, so that the carton packaging operations required for any position. The joint of the finger directly through the joint motor drive, the entire system needs to be controlled shaft 14. These considerations are based on a high degree of reconfigurability and control the minimum number of axis.Fingertip designs special consideration, because they have to perform various operational functions discussed in the previous section. Inspired by the manual packaging process, fingertip design with the tip of the V-groove. According to the needs of the manual packaging, making it the finger "poke" and "squeeze" the force is applied on the cassette. The prongs are used to poke operation, in the extrusion of the V-shaped groove, paperboard, open to plug operation. In addition to providing unstinting effort and squeeze force, Y-shaped portion of the two-degree-of-freedom finger can provide temporary flat cardboard thrust. In the case of a limited degree of freedom, this design can provide many flexible operating functions to handle the different construct different types of tray.The model provides the machine is running all the necessary motion information (Dubey and Crowder, 2003). Packaging machine parameter model has been developed (Workspace4, 1998), the geometric shape and size changes in the design can be easily incorporated intothe model, including the configuration of authentication. This also makes the motion parameters of the machine member can be ascertained prior to processing. Positioning point of contact can be achieved by recording the displacement of the contact point, the connectivity of the finger movement between the carton packaging cartons, carton. The point of contact on the carton can be represented by the geometry of the folding sequence identification (Dubey and Dai, 2001). These contact points used to measure the offset of each finger joint. These displacement data are subjected to the interpolation operation, to generate optimal finger path to minimize the unnecessary finger movement, thus reducing the packaging cycle time. Interpolation of data obtained from the model can be downloaded, to drive the fingers. The current research work is based on the geometric characteristics of the tray and the folding sequence of the entire packaging process can be automated (Dubey et al, 2000), rather than by means of the simulation of the tray.Figure 5 shows a finger trace the point of contact on the tray when the tray is folded. Simulation model for the design and control of the packaging machine provides a lot of valuable information. For example, prior to the dimensions and structure of the simulation model can be used to check the geometry and structure of the machine. By changing the parameters of the basic dimensions of the model, any new mechanical parts geometric information can be obtained directly. Motion data obtained in the folding process of the tray and the track can be used for the finger system control. At present, the analog motion parameters can not be directly integrated into the controller, these data must be input in the form of a data file to the controller. However, this method can be fully checked folding sequence, and then download these data and input to the controller.Robot folding cartonTesting machineThree-dimensional information obtained from the model developed by the packaging machine with three linear motor; two for driving the clamp hands, one for control of the vertical movement of the rotating platform. 10 Japan's Yaskawa Electric high-torque, high-performance motor is used at the joints of the fingers, these motor specifications: size, Φ30 × 30 mm; weight, 70 g; torque, 0.7Nm/22.5rpm; transmission ratio, 80 : 1, harmonic drive; optical encoder, 96 pulse / rev. This means that the fingers can be provided 10cm 7N pressure sufficient to collapse this fancy gift carton. The controller architecture uses four motion control program cards, each card can control up to four axes (Dubey and Crowder, 2003). These cards support the C programming language, motion control, it also has a G-code programming interface for rapid testing and analog processing. The system also uses a pneumatic connection to connect the sucker off switch, the controller can be controlled by the sucker. Turn the dial tray from one location to another location and position (in the future also plans to use the V-shaped groove on the finger), to complete the crawl. This will help to deal with the formation of the carton board, to prevent the slide (Dubey et al, 1999).In order to establish the function of the packaging system used to build and folding carton, after the same to determine the geometry of the model and packaging machines both data files generated from the model feedback to the controller. Data files running motion data with a single line storage motor coordination, and follow-up to the next stage of the motion control parameters. Therefore, the control program in order to read data, and generates the corresponding interrupt while sending operations command. So, the fingers can be parallel, continuously repeated movement. Prepared for a variety of operating functions of a subprogram can further enhance the programming capabilities of the controller, so that the modular structure of the controller can be achieved, and thus better able to adapt to any new carton folding and packaging operation step.Reconfigurable capacity of the system is one of the key issues of system development. During the system design idea is to use the system to collapse different types of minor changes to the tray. To do this, ensure that the device has developed good graphical model and the basic structure is very important to be assembled. Running machines, data files are included in the main program, when the folding carton operation for the first times in a step-by-step pilot mode to verify that the finger movement. Once the system has completed the preparatory work of the automatic packaging, the system can be built in less than 45 seconds and folding carton (Figure 1). As shown in Figure 1 shows the advanced machine, all the fingers and horizontal push rod are involved in the complex folding operation. Although it is difficult to time the comparison with manual packaging, but we were the same carton test, manual packaging (learning) takes an average of about 60 seconds.Reconfigurable machine another type of tray can be folded to prove, as shown in Illustration 2. This is a complex shape of the closed tray. The packaging of this carton cardboard to perform various operations, including the allocation of twisting and folding. Reset the machine structure, the whole carton folding process is time-consuming 45s. Modified machine can be modified before the machine (as shown in Figure 1 below) comparable. This indicates a high degree of flexibility in the system and re-designs capabilities.The running packaging machineAnother carton packaging machineDiscussion and conclusionsThis paper proposes a flexible, reconfigurable assembly and packaging systems. The purpose of this study is to design a processing the different geometries tray reconfigurable assembly and packaging systems. The original idea was to develop a system can demonstrate the ability to adapt to different styles and complex shapes carton. The results show that the packaging machine can be folded carton of two completely different shapes. In any case, the folding cycle is approximately 45 seconds. Although this is not an optimal folding time, but using the online data transfer is expected to reduce the cycle time of 30 seconds or less. Although a very flexible carton packaging machine for workshop production, there are still many problems to be solved. However, the purpose of this study is to verify that a fast conversion technology for the packaging industry.Portion includes optimization finger rail needs to be improved in the future, the useof force feedback touch sensor in order to avoid excessive pressure on the cardboard, and the folding operation will be carried out in a vacuum apparatus. Also recommended that the simulation model combined with the actual machine so that it can be downloaded online data. The XY table available motor drive and control, automatic reconstruction. Thisstate-of-the-art technology will automate the entire packaging process, from thetwo-dimensional map of the tray, and then determine the kinematic characteristics and generate motion sequences to complete the product packaging. In addition, if small, also plans to be flexible, reconfigurable robot installed on a robot arm to obtain greater flexibility. The system not only for carton folding can also be folded into the paper tray. This will reduce packaging time, also be able to meet the challenges of the changing demand for high-end private product packaging and high flexibility.外文资料翻译译文一个复杂纸盒的包装机器人Venketesh N. Dubey英国设计学院，工程和计算机，伯恩茅斯大学，普尔Jian S. Dai伦敦大学国王学院，英国伦敦大学，伦敦摘要目的—为了展示设计一种可以折叠复杂几何形状的纸盒的多功能包装机的可行性。

与机械相关的外文及翻译Multidisciplinary Design Optimization of Modular Industrial Robots by Utilizing High Level CAD Templates1、IntroductionIn the design of complex and tightly integrated engineering products, it is essential to be able to handle interactions between different subsystems of multidisciplinary nature [1]. To achieve an optimal design, a product must be treated as a complete system instead of developing subsystems independently [2]. MDO has been established as a convincing concurrent design optimization technique in development of such complex products [3,4].Furthermore, it has been pointed out that, regardless of discipline, basically all analyses require information that has to be extracted from a geometry model [5]. Hence, according to Bow-cutt [1], in order to enable integrated design analysis and optimization it is of vital importance to be able to integrate an automated parametric geometry generation system into the design framework. The automated geometry generation is a key enabler for so-called geometry-in-the-loop[6] multidisciplinary design frameworks, where the CAD geometries can serve as framework integrators for other engineering tools.To eliminate noncreative work, methods for creation and automatic generation of HLCt have been suggested by Tarkian [7].The principle of high HLCts is similar to high level primitives(HLP) suggested by La Rocca and van Tooren [8], with the exception that HLCts are created and utilized in a CAD environment.Otherwise, the basics of both HLP and HLCt can, as suggested byLa Rocca, be compared to parametric LEGOV Rblocks containing a set of design and analysis parameters. These are produced and stored in libraries, giving engineers or a computer agent the possibility to first topologically select the templates and then modify the morphology, meaning theshape,of each template parametrically.2、Multidisciplinary Design FrameworkMDO is a “systematic approach to design space exploration”[17], the implementation of which allows the designer to map the interdisciplinary relations that exist in a system. In this work, the MDO framework consists of a geometry model, a finite element(FE) model, a dynamic model and a basic cost model. The geometry model provides the analysis tools with geometric input. The dynamic model requires mass properties such as mass, center of gravity, and inertia. The FE model needs the meshed geometry of the robot as well as the force and torque interactions based on results of dynamic simulations.High fidelity models require an extensive evaluation time which has be taken into account. This shortcoming is addressed by applying surrogate models for the FE and the CAD models. The models are briefly presented below. 2.1 High Level CAD Template—Geometry ModelTraditionally, parametric CAD is mainly focused on morphological modifications of the geometry. However, there is a limit to morphological parameterization as follows:•The geometries cannot be radically modified.•Increased geometric complexity greatly increases parameterization complexity.The geometry model of the robot is generated with presaved HLCts, created in CATIA V5. These are topologically instantiated with unique internal design variables. Topological parameterization allows deletion, modification, and addition of geometricelements which leads to a much greater design space captured.Three types of HLCts are used to define the industrial robot topologically; Datum HLCt which includes wireframe references required for placement for the Actuator HLCTs and Structure HLCts, as seen Fig.2.Fig. 2 An industrial robot (left) and a modular industrial robot(right) The names of the references that must be provided for each HLCt instantiation are stored in the knowledge base (see Appen-dix A.4), which is searched through by the inference engine. In Appendix A, pseudocode examples describes how the references are retrieved and how they are stored in the knowledge base.The process starts by the user defining the number of degrees of freedom (DOF) of the robot (see Fig. 3) and is repeated until the number of axis (i) is equal to the user defined DOF.In order to instantiate the first Structure HLCt, two Datum and two actuator instances are needed. References from the two Datum instances help orienting the structure in space, while the geometries of the actuator instances, at both ends of the link, are used to construct the actuator attachments, as seen in Figs. 2 and 3. For the remaining links, only one new instance of both datum and actuator HLCts are required, since the datum and actuator instances from adjacent links are already available.Appendix A.2 shows a pseudocode example of an instantiation function. The first instantiated datum HLCt is defined with reference to the absolute coordinate system. The remaining datum HLCt instances are placed in a sequential order, where the coordinate system of previous instances is used as reference for defining the position in space according to user inputs (see also AppendixA.3). Furthermore, the type of each actuator and structure instance is user defined.Fig. 3 The high level CAD template instantiation process Since it is possible to create new HLCts in the utilized CAD tool, the users are not forced to merely choose from the templates available. New HLCts can be created, placed in the database and parametrically inserted into the models.2.2 Dynamic ModelThe objective of performing dynamic simulation of a robot is to evaluate system performance, such as predicting acceleration and time performance, but it also yields loads on each actuated axis, needed for actuator lifetime calculations and subsequent stress analysis based on FE calculations. Thedynamic model in the outlined framework is developed in Modelica using Dymola, and it constitutes a seven-axis robot arm based on the Modelica Standard library [18].The dynamic model receives input from the geometry model,as well as providing output to the FE model, which is further described in Sec. 2.3. However, to better understand the couplings between the models, the Newton –Euler formulation will be briefly discussed. In this formulation, the link velocities and acceleration are iteratively computed, forward recursivelyWhen the kinematic properties are computed, the force and torque interactions between the links are computed backward recursively from the last to the first link2.3 FE Surrogate ModelTo compute the structural strength of the robot, FE models for each robot link is created utilizing CATIA V5, see Fig. 4. For each HLCt, mesh and boundary conditions are manually preprocessed in order to allow for subsequent automation for FE-model creation. The time spent on preprocessing each FE-model is thus extensive. Nonetheless, the obtained parametric FE-model paves way for automated evaluation of a wide span of concepts. Each robot link is evaluated separately with the load conditions extracted from the dynamicmodel. The force (fi-11and fi) and torque (ţi-1and ti) are applied on the surfaceswhere the actuators are attached.2.4 Geometric Surrogate Models.Surrogate models are numerically efficient models to determine the relation between inputs and o utputs of a model [19]. The input variables for the proposed application are the morphological variables thickness and link height as well as a topological variable actuator type. The outputs of the surrogate models are mass m, Inertia I, and center of gravity ri,ci.To identify the most suitable type of surrogate model for the outlined problem, a range of surrogate models types are created and evaluated using 50 samples. The precision of each surrogate model is compared with the values of the original model with 20 new samples. The comparison is made using the relative average absolute error (RAAE) and relative maximum absolute error (RMAE) as specified by Shan et al. [20], as well as the normalized root mean square error (NRMSE), calculated as seen in Eq. (3). All precision metrics are desired to be as low as possible, since low values mean that the surrogate model is accurateThe resulting precision metrics can be seen in Appendix B and the general conclusion is that anisotropic kriging [21], neural networks [22], and radialbasis functions [23] are the most promising surrogate models. To investigate the impact of increasing number of samples, additional surrogate models of those three are fitted using 100 samples, and the results compiled in Appendix B. The resulting NRMSEs for 50 and 100 samples for anistotropic kriging, neural networks, and radial basis functions can be seen in Fig.5. The figures inside the parentheses indicate the number of samples used to fit the surrogate models.Fig. 5 Graph of the NRMSEs for different surrogate models,fitted using 50 and 100 samplesAccording to Fig. 5, anisotropic kriging outperforms the other surrogate models and the doubling of the number of samples usedfor fitting the surrogate model increases the precision dramatically.2.5 FE Surrogate ModelsFor generating FE surrogate models, the anisotropic kriging was also proven to be the most accurate compared to the methods evaluated in Sec. 2.4. Here, one surrogate model is created for each link. Inputs are thickness,actuators, force (fi-11and fi) and torque (ţi-1and ti). The output for eachsurrogate model is maximum stress (MS).A mean error of approximately 9% is reached when running 1400 samples for each link. The reason for the vast number of samples, compared to geometry surrogate models, has to do with a much larger design space.利用高水平CAD模板进行模块化工业机器人的多学科设计优化1 介绍指出,除了规则,基本上所有的分析都需要信息,而这些信息需要从一个几何模型中提取。

1 英文文献翻译1.1 Modern PackagingAuthor：Abstract1. Changing Needs and New RolesLooking back, historical changes are understandable and obvious. That all of them have had an impact on the way products are brought, consumed and packaged is also obvious. What is not so obvious is what tomorrow will bring. Yet, it is to the needs, markets, and conditions of tomorrow that packaging professionals must always turn their attention.The forces that drove packaging during the Industry Revolution continue to operate today. The consumer society continues to grow and is possibly best described by a 1988s bumper sticker, “Born to Shop”. We consume goods today at a rate 4 to 5 times greater than we did as recently as 1935. Most of these goods are not essential to survival; they constitute what we may call “the good life”.In the second half of the 20th century， the proliferation of goods was so high that packaging was forced into an entirely new role, that of providing the motivation rather than presenting the goods itself. On a shelf of 10 competing products, all of them similar in performance and quality, the only method of differentiating became the package itself. Marketer aimed at lifestyles, emotional values, subliminal images, features, and advantages beyond the basic product rather than the competitor’s. In some in instances, the package has become the product, and occasionally packaging has become entertainment.A brand product to carry the product manufacturer or product sales of theretailer’s label, usually by the buyer as a quality assessment guidance. In some cases, competing brands of product quality is almost no difference, a difference is the sale of its packaging. An interesting visually attractive packaging can give a key marketing advantage and convince impulse spending. However, the packaging should accurately reflect the quality of products/brand value in order to avoid the disappointment of consumers, encourage repeat purchases and build brand loyalty. Ideally, the product should exceed customer expectations.2. Packaging and the Modern Industrial SocietyThe importance of packaging to a modern industrial society is most evident when we examine the food-packaging sector. Food is organic in nature, having an animal or plant source. One characteristic of such organic matter is that, by and large, it has a limited natural biological life.A cut of meat, left to itself, might be unfit for human consumption by the next day. Some animal protein products, such as seafood, can deteriorate within hours.The natural shelf life of plant-based food depends on the species and plant involved. Pulpy fruit portions tend to have a short life span, while seed parts, which in nature have to survive at least separated from the living plant are usually short-lived.In addition to having a limited natural shelf life, most food is geographically and season-ally specific. Thus, potatoes and apples are grown in a few North American geographical regions and harvest during a short maturation period. In a world without packaging，we would need to live at the point of harvest to enjoy these products, and our enjoyment of them would be restricted to the natural biological life span of each. It is by proper storage, packaging and transport techniques that we are able to deliver fresh potatoes and apples, or the products derived from them, throughout the year and throughout the country. Potato-whole,canned, powdered, flaked, chipped, frozen, and instant is available, anytime, anywhere. This ability gives a society great freedom and mobility. Unlike less-developed societies, we are no longer restricted in our choice of where to live, since we are no longer tied to the food-producing ability of an area. Food production becomes more specialized and efficient with the growth of packaging. Crops and animal husbandry are moved to where their production is most economical, without regard to the proximity of a market. Most important, we are free of the natural cycles of feast and famine that are typical of societies dependent on natural regional food-producing cycles.Central processing allows value recovery from what would normally be waste by products of the processed food industry from the basis of other sub-industries. Chicken feathers are high in protein and, properly mill and treated, can be fed back to the next generation of chickens. Vegetable waste is fed to cattle or pigs. Bagasse, the waste cane from sugar pressing, is a source of fiber for papermaking. Fish scales are refined to make additives for paints and nail polish.The economical manufacture of durable goods also depends on good packaging.A product's cost is directly related to production volume. The business drive to reduce costs in the supply chain must be carefully balanced against the fundamental technical requirements for food safety and product integrity, as well as the need to ensure an. efficient logistics service. In addition, there is a requirement to meet the aims of marketing to protect and project brand image through value-added pack design. The latter may involve design inputs that communicate distinctive, aesthetically pleasing, ergonomic, functional and/or environmentally aware attributes. But for a national or international bicycle producer to succeed, it must be a way of getting the product to a market, which may be half a world away. Again, sound packaging, in this case distributionpackaging, is a key part of the system.Some industries could not exist without an international market. For example, Canada is a manufacturer of irradiation equipment, but the Canadian market (which would account for perhaps one unit every several years) could not possibly support such a manufacturing capability. However, by selling to the world, a manufacturing facility becomes viable. In addition to needing packaging for the irradiation machinery and instrumentation, the sale of irradiation equipment requires the sale packaging and transport of radioactive isotopes, a separate challenge in itself. In response to changing consumer lifestyles, the large retail groups and the food service industry development. Their success has been involved in a competition fierce hybrid logistics, trade, marketing and customer service expertise, all of which is dependent on the quality of packaging. They have in part led to the expansion of the dramatic range of products offered, technology innovation, including those in the packaging. Supply retail, food processing and packaging industry will continue to expand its international operations. Sourcing products around the world more and more to assist in reducing trade barriers. The impact of the decline has been increased competition and price pressure. Increased competition led to the rationalization of industrial structure, often in the form of mergers and acquisitions. Packaging, it means that new materials and shapes, increased automation, packaging, size range extension of lower unit cost. Another manufacturer and mergers and acquisitions, the Group's brand of retail packaging and packaging design re-evaluation of the growing development of market segmentation and global food supply chain to promote the use of advanced logistics and packaging systems packaging logistics system is an integral part of, and played an important role in prevention in the food supply or reduce waste generation.3. World Packaging.This discussion has referred to primitive packaging and the evolution of packaging functions. However, humankind's global progress is such that virtually every stage in the development of society and packaging is present somewhere in the world today. Thus, a packager in a highly developed country will agonize over choice of package type, hire expensive marketing groups to develop images to entice the targeted buyer and spend lavishly on graphics. In less-developed countries, consumers are happy to have food, regardless of the package. At the extreme, consumers will bring their own packages or will consume food on the spot, just as they did 2000 years ago.Packagers from the more developed countries sometimes have difficulty working with less-developed nations, for the simple reason that they fail to understand that their respective packaging priorities are completely different. Similarly, developing nations trying to sell goods to North American markets cannot understand our preoccupation with package and graphics.The significant difference is that packaging plays a different role in a market where rice will sell solely because it is available. In the North American market, the consumer may be confronted by five different companies offering rice in 30 or so variations. If all the rice is good and none is inferior, how does a seller create a preference for his particular rice? How does he differentiate? The package plays a large role in this process.The package-intensive developed countries are sometimes criticized for over packaging, and certainly over-packaging does exist. However, North Americans also enjoy the world's cheapest food, requiring only about 11 to 14% of our disposable income. European food costs are about 20% of disposable income, and in the less-developed countries food can take 95%of family income.4. The status and development trend of domestic and international packaging machineryWorldwide, the history of the development of the packaging machinery industry is relatively short, science and technology developed in Europe and America in general started in the 20th century until the 1950s the pace greatly accelerated.From the early 20th century, before the end of World War II World War II，medicine，food, cigarettes，matches，household chemicals and other industrial sectors, the mechanization of the packaging operations; the 1950s, the packaging machine widely used common electric switches and tube for the main components of the control system to achieve the primary automation; 1960s, Electrical and optical liquid-gas technology is significantly increased in the packaging machine, machines to further expand on this basis a dedicated automated packaging line; the 1970s, the micro- electronic technology into the automation of packaging machines and packaging lines, computer control packing production process; from the 1980s to the early 1990s, in some field of packaging, computer, robot application for service, testing and management, in preparation for the over-flexible automatic packaging lines and "no" automatic packaging workshop.Actively promoted and strong co-ordination of all aspects of society, and gradually establish a packaging material, packaging, printing, packaging machinery and other production sectors, and corresponding to the research, design, education, academic, management and organization, and thus the formation of independent and complete. The packaging of light industrial system, and occupies an important place in the national economy as a whole.Based on recent years data that members of the World Packaging Alliance output value of the packaging industry accounts for about 2% of the total output value of the national economy; in which the proportion of packaging machinery, though not large, but the rapid development of an annual average of almost growing at a rate of about 10%. Put into use at the packaging machine is now more than thousand species of packaging joint machines and automated equipment has been stand-alone equate. According to the new technological revolution in the world development trend is expected to packaging materials and packaging process and packaging machinery will be closely related to obtain the breakthrough of a new step, and bring more sectors into the packaging industry.China Packaging Technology Association was established in 1980. Soon, the China National Packaging Corporation have been born. Since then, one after another in the country organized a national and international packaging machinery exhibition, seminars, also published I had the first ever "China Packaging Yearbook and other packaging technology books. All this indicates that China is creating a new packaging historical perio d.1.2中文翻译现代包装1、不断变化的需求和新的角色,回顾以往,包装所带来明显的历史性变化是可以理解的, 一个产品包装方式的给他们的销量带来的影响也是显而易见的。

外文资料robotThe industrial robot is a tool that is used in the manufacturing environment to increase productivity. It can be used to do routine and tedious assembly line jobs，or it can perform jobs that might be hazardous to the human worker . For example ，one of the first industrial robot was used to replace the nuclear fuel rods in nuclear power plants. A human doing this job might be exposed to harmful amounts of radiation. The industrial robot can also operate on the assembly line，putting together small components，such as placing electronic components on a printed circuit board. Thus，the human worker can be relieved of the routine operation of this tedious task. Robots can also be programmed to defuse bombs，to serve the handicapped，and to perform functions in numerous applications in our society.The robot can be thought of as a machine that will move an end-of-tool ，sensor ，and/or gripper to a preprogrammed location. When the robot arrives at this location，it will perform some sort of task .This task could be welding，sealing，machine loading ，machine unloading，or a host of assembly jobs. Generally，this work can be accomplished without the involvement of a human being，except for programming and for turning the system on and off.The basic terminology of robotic systems is introduced in the following:1. A robot is a reprogrammable ，multifunctional manipulator designed to move parts，material，tool，or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions，presented in the following paragraphs，that give acomplete picture of a robotic system.2. Preprogrammed locations are paths that the robot must follow to accomplish work，At some of these locations，the robot will stop and perform some operation ，such as assembly of parts，spray painting ，or welding .These preprogrammed locations are stored in the robot’s memory and are recalled later for continuousoperation.Furthermore，these preprogrammed locations，as well as other program data，can be changed later as the work requirements change.Thus，with regard to this programming feature，an industrial robot is very much like a computer ，where data can be stoned and later recalled and edited.3. The manipulator is the arm of the robot .It allows the robot to bend，reach，and twist.This movement is provided by the manipulator’s axes，also called the degrees of freedom of the robot .A robot can have from 3 to 16 axes.The term degrees of freedom will always relate to the number of axes found on a robot.4. The tooling and frippers are not part the robotic system itself;rather，they are attachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts，spot-weld ，paint，arc-weld，drill，deburr，and do a variety of tasks，depending on what is required of the robot.5. The robotic system can control the work cell of the operating robot.The work cell of the robot is the total environment in which the robot must perform itstask.Included within this cell may be the controller ，the robot manipulator ，a work table ，safety features，or a conveyor.All the equipment that is required in order for the robot to do its job is included in the work cell .In addition，signals from outside devices can communicate with the robot to tell the robot when it should parts，pick up parts，or unload parts to a conveyor.The robotic system has three basic components: the manipulator，the controller，and the power source.A.ManipulatorThe manipulator ，which does the physical work of the robotic system，consists of two sections:the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached.Fig.1 illustrates the connectionof the base and the appendage of a robot.图1.Basic components of a robot’s manipulatorThe base of the manipulator is usually fixed to the floor of the work area. Sometimes，though，the base may be movable. In this case，the base is attached to either a rail or a track，allowing the manipulator to be moved from one location to anther.As mentioned previously ，the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight ，movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base ，which，in turn，is secured to a mounting. This mounting ensures that the manipulator will in one location.At the end of the arm ，a wrist（see Fig 2）is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.图2.Elements of a work cell from the topThe manipulator’s axes allow it to perform work within a certain area. The area is called the work cell of the robot ，and its size corresponds to the size of the manipulator.（Fid2）illustrates the work cell of a typical assembly ro bot.As the robot’s physical size increases，the size of the work cell must also increase.The movement of the manipulator is controlled by actuator，or drive systems.The actuator，or drive systems，allows the various axes to move within the work cell. The drive system can use electric，hydraulic，or pneumatic power.The energy developed by the drive system is converted to mechanical power by various mechanical power systems.The drive systems are coupled through mechanical linkages.These linkages，in turn，drive the different axes of the robot.The mechanical linkages may be composed of chain，gear，and ball screws.B.ControllerThe controller in the robotic system is the heart of the operation .The controller stores preprogrammed information for later recall，controls peripheral devices，and communicates with computers within the plant for constant updates in production.The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hard-held teach pendant.This information is stored in the memory of the controller for later recall.The controller stores all program data for the robotic system.It can store several differentprograms，and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example，the controller has an input line that identifies when a machining operation is completed.When the machine cycle is completed，the input line turn on telling the controller to position the manipulator so that it can pick up the finished part.Then ，a new part is picked up by the manipulator and placed into the machine.Next，the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events.This type of controller operates with a very simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art eletronoics.That is，they are microprocessor-operated.these microprocessors are either 8-bit，16-bit，or 32-bit processors.this power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between the robot manipulator and the controller maintains a constant update of the end the operation of the system.The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part a computer-assisted manufacturing （CAM）system.As the basic definition stated，the robot is a reprogrammable，multifunctional manipulator.Therefore，the controller must contain some of memory stage. The microprocessor-based systems operates in conjunction with solid-state devices.These memory devices may be magnetic bubbles，random-access memory，floppy disks，or magnetic tape.Each memory storage device stores program information fir or for editing.C.power supplyThe power supply is the unit that supplies power to the controller and the manipulator. The type of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power isused for driving the various axes of the manipulator. For example，if the robot manipulator is controlled by hydraulic or pneumatic drives，control signals are sent to these devices causing motion of the robot.For each robotic system，power is required to operate the manipulator .This power can be developed from either a hydraulic power source，a pneumatic power source，or an electric power source.There power sources are part of the total components of the robotic work cell.中文翻译机器人工业机器人是在生产环境中用以提高生产效率的工具，它能做常规乏味的装配线工作，或能做那些对于工人来说是危险的工作，例如，第一代工业机器人是用来在核电站中更换核燃料棒，如果人去做这项工作，将会遭受有害放射线的辐射。

机器⼈外⽂⽂献翻译、中英⽂翻译外⽂资料robotThe industrial robot is a tool that is used in the manufacturing environment to increase productivity. It can be used to do routine and tedious assembly line jobs，or it can perform jobs that might be hazardous to the human worker . For example ，one of the first industrial robot was used to replace the nuclear fuel rods in nuclear power plants. A human doing this job might be exposed to harmful amounts of radiation. The industrial robot can also operate on the assembly line，putting together small components，such as placing electronic components on a printed circuit board. Thus，the human worker can be relieved of the routine operation of this tedious task. Robots can also be programmed to defuse bombs，to serve the handicapped，and to perform functions in numerous applications in our society.The robot can be thought of as a machine that will move an end-of-tool ，sensor ，and/or gripper to a preprogrammed location. When the robot arrives at this location，it will perform some sort of task .This task could bewelding，sealing，machine loading ，machine unloading，or a host of assembly jobs. Generally，this work can be accomplished without the involvement of a human being，except for programming and for turning the system on and off. The basic terminology of robotic systems is introduced in the following:1. A robot is a reprogrammable ，multifunctional manipulator designed to move parts，material，tool，or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions，presented in the following paragraphs，that give acomplete picture of a robotic system.2. Preprogrammed locations are paths that the robot must follow to accomplish work，At some of these locations，the robot will stop and perform some operation ，such as assembly of parts，spray painting ，or welding .These preprogrammed locations are stored in the robot’s memory and are recalled later for continuousoperation.Furthermore，these preprogrammed locations，as well as other program data，can be changed later as the work requirements change.Thus，with regard to this programming feature，an industrial robot is very much like a computer，where data can be stoned and later recalled and edited.3. The manipulator is the arm of the robot .It allows the robot to bend，reach，and twist.This movement is provided by the manipulator’s axes，also called the degrees of freedom of the robot .A robot can have from 3 to 16 axes.The term degrees of freedom will always relate to the number of axes found on a robot.4. The tooling and frippers are not part the robotic system itself;rather，they are attachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts，spot-weld ，paint，arc-weld，drill，deburr，and do a variety of tasks，depending on what is required of the robot.5. The robotic system can control the work cell of the operating robot.The work cell of the robot is the total environment in which the robot must perform itstask.Included within this cell may be the controller ，the robot manipulator ，a work table ，safety features，or a conveyor.All the equipment that is required in order for the robot to do its job is included in the work cell .In addition，signals from outside devices can communicate with the robot to tell the robot when it should parts，pick up parts，or unload parts to a conveyor.The robotic system has three basic components: the manipulator，the controller，and the power source.A.ManipulatorThe manipulator ，which does the physical work of the robotic system，consists of two sections:the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached.Fig.1 illustrates the connectionof the base and the appendage of a robot.图1.Basic components of a robot’s manipulatorThe base of the manipulator is usually fixed to the floor of the work area. Sometimes，though，the base may be movable. In this case，the base is attached to either a rail or a track，allowing the manipulator to be moved from one location to anther.As mentioned previously ，the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight ，movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base ，which，in turn，is secured to a mounting. This mounting ensures that the manipulator will in one location.At the end of the arm ，a wrist（see Fig 2）is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.图2.Elements of a work cell from the topThe manipulator’s axes allow it to perform work within a certain area. The area is called the work cell of the robot ，and its size corresponds to the size of the manipulator.（Fid2）illustrates the work cell of a typical assembly ro bot.As the robot’s physical size increases，the size of the work cell must also increase.The movement of the manipulator is controlled by actuator，or drive systems.The actuator，or drive systems，allows the various axes to move within the work cell. The drive system can use electric，hydraulic，or pneumatic power.The energy developed by the drive system is converted to mechanical power by various mechanical power systems.The drive systems are coupled through mechanical linkages.These linkages，in turn，drive the different axes of the robot.The mechanical linkages may be composed of chain，gear，and ball screws.B.ControllerThe controller in the robotic system is the heart of the operation .The controller stores preprogrammed information for later recall，controls peripheral devices，and communicates with computers within the plant for constant updates in production. The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hard-held teach pendant.This information is stored in the memory of the controller for later recall.The controller stores all program data for the robotic system.It can store several differentprograms，and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example，the controller has an input line that identifies when a machining operation is completed.When the machine cycle is completed，the input line turn on telling the controller to position the manipulator so that it can pick up the finished part.Then ，a new part is picked up by the manipulator and placed into the machine.Next，the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events.This type of controller operates with a very simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art eletronoics.That is，they are microprocessor-operated.these microprocessors are either 8-bit，16-bit，or 32-bit processors.this power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between the robot manipulator and the controller maintains a constant update of the end the operation of the system.The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part a computer-assisted manufacturing （CAM）system.As the basic definition stated，the robot is a reprogrammable，multifunctional manipulator.Therefore，the controller must contain some of memory stage. The microprocessor-based systems operates in conjunction with solid-state devices.These memory devices may be magnetic bubbles，random-access memory，floppy disks，or magnetic tape.Each memory storage device stores program information fir or for editing.C.power supplyThe power supply is the unit that supplies power to the controller and the manipulator. The type of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power isused for driving the various axes of the manipulator. For example，if the robot manipulator is controlled by hydraulic or pneumatic drives，control signals are sent to these devices causing motion of the robot.For each robotic system，power is required to operate the manipulator .This power can be developed from either a hydraulic power source，a pneumatic power source，or an electric power source.There power sources are part of the total components of the robotic work cell.中⽂翻译机器⼈⼯业机器⼈是在⽣产环境中⽤以提⾼⽣产效率的⼯具，它能做常规乏味的装配线⼯作，或能做那些对于⼯⼈来说是危险的⼯作，例如，第⼀代⼯业机器⼈是⽤来在核电站中更换核燃料棒，如果⼈去做这项⼯作，将会遭受有害放射线的辐射。

机器人外文翻译(中英文翻译)机器人外文翻译(中英文翻译)With the rapid development of technology, the use of robots has become increasingly prevalent in various industries. Robots are now commonly employed to perform tasks that are dangerous, repetitive, or require a high level of precision. However, in order for robots to effectively communicate with humans and fulfill their intended functions, accurate translation between different languages is crucial. In this article, we will explore the importance of machine translation in enabling robots to perform translation tasks, as well as discuss current advancements and challenges in this field.1. IntroductionMachine translation refers to the use of computer algorithms to automatically translate text or speech from one language to another. The ultimate goal of machine translation is to produce translations that are as accurate and natural as those generated by human translators. In the context of robots, machine translation plays a vital role in allowing them to understand and respond to human commands, as well as facilitating communication between robots of different origins.2. Advancements in Machine TranslationThe field of machine translation has experienced significant advancements in recent years, thanks to breakthroughs in artificial intelligence and deep learning. These advancements have led to the development of neural machine translation (NMT) systems, which have greatly improved translation quality. NMT models operate by analyzinglarge amounts of bilingual data, allowing them to learn the syntactic and semantic structures of different languages. As a result, NMT systems are capable of providing more accurate translations compared to traditional rule-based or statistical machine translation approaches.3. Challenges in Machine Translation for RobotsAlthough the advancements in machine translation have greatly improved translation quality, there are still challenges that need to be addressed when applying machine translation to robots. One prominent challenge is the variability of language use, including slang, idioms, and cultural references. These nuances can pose difficulties for machine translation systems, as they often require a deep understanding of the context and cultural background. Researchers are currently working on developing techniques to enhance the ability of machine translation systems to handle such linguistic variations.Another challenge is the real-time requirement of translation in a robotic setting. Robots often need to process and translate information on the fly, and any delay in translation can affect the overall performance and efficiency of the robot. Optimizing translation speed without sacrificing translation quality is an ongoing challenge for researchers in the field.4. Applications of Robot TranslationThe ability for robots to translate languages opens up a wide range of applications in various industries. One application is in the field of customer service, where robots can assist customers in multiple languages, providing support and information. Another application is in healthcare settings, where robots can act as interpreters between healthcare professionals and patientswho may speak different languages. Moreover, in international business and diplomacy, robots equipped with translation capabilities can bridge language barriers and facilitate effective communication between parties.5. ConclusionIn conclusion, machine translation plays a crucial role in enabling robots to effectively communicate with humans and fulfill their intended functions. The advancements in neural machine translation have greatly improved translation quality, but challenges such as language variability and real-time translation requirements still exist. With continuous research and innovation, the future of machine translation for robots holds great potential in various industries, revolutionizing the way we communicate and interact with technology.。

码垛机械手设计ABOUT MODERN INDUSTRIAL MANIPULATOR Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development conditionin recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs.There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection.关于现代工业机械手文章出处：1994-2009 China Academic Joumal Electronic Publishing House机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济技术的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。

外文文献：Technology status and Development trend of Stacking crane1 OverviewStacking crane is a special crane as of version of the warehouse and developed to appearSpecial crane, commonly referred to as the pile of chop machine, piling machine is three-dimensional storehouse of the most important lifting transportation equipment, represents the sign of three-dimensional warehouse characteristics. Its main use is:In the top shelf of the warehouse in orbit, will be located at the mouth of the goods in goods mesh; Or the opposite, take out loans in case the goods to the mouth of roadway, the loading and unloading finish homework. 20 the early 70 s, China began to research the type of machine of roadway when the three-dimensional warehouse, according to not complete count, up to now has been built more than three hundred seats.Stacking machine as a three-dimensional storehouse of the most important lifting transportation equipment, also obtained fast development.2 version of the present situation of stacking crane technology.According to the current machinery industry standard, the position of the stacking crane classification of ways. E.g. by supporting mode, use, the method of control, structure, operation such as classified track. But no matter what type of stacking machine, is general by the mobile mechanism, level of lifting mechanism, manifest Taiwan and goods fork institutions, frame and electrical equipment, and other basic parts.In the present application of three-dimensional warehouse, stacking machine is the most common in the form of the structure and operation track classification.2.1 version of the good way of spider crane structure From the structure form difference at present in the warehouse stacker has a double set on structure and single pillar structure.2.1.1 double pillar stacker.Double post the stacker frame structure by two root made on the beams, and to form a rectangle beam under the framework. Pillar form well pipe and pipe. Square tube and be lifting guide rail, pipe additional hoisting guide double pillar stacker the biggest advantage is the strength and the brush sex are quite good, and smooth operation. General for lifting height, weight and higher up large speed high level of three-dimensional storehouse stacker, many with double pillar structure, double pillar stackers lifting mechanism, widespread use of the chain transmission, by motor reducer drive sprockets rotation, through the chain traction machine parts made on or along the hoisting guide for lifting movement.Due to the chain transmission used more closed chain or balance by empty asked size limit device, transmission and decorate a complicated. But positioning precision.2.1.2 single pillar stacker.Single pillar of stacker frame structure by a root of the pillar and beam. Pillar used more larger h-beam or welding production, pillar additional guide. The weight of the lighter, consume little material, so manufacturing relatively low cost, but the rigid is a bit poor. Because parts of Taiwan and the goods on the eccentricity of the opposite effect, and walk, the braking force level from the effect, make single pillar stacker in used on have limitations. Not suitable for lifting weight and the running speed of the high level of stacking machine. Single pillar stackers hoisting structure, the widespread use of the wire rope transmission, by motor reducer drive drum rotating, through the wire rope traction machine parts made on or along the lifting rails for lifting movement. For wire rope transmission, transmission and decorate relatively easy, but positioning accuracy is a bit poor.Version 2.2 of stacking crane to track the performance Stacker level drive general installation in stacker next beam, through the electricityMachine speed reducer drive wheel rotation, make stacker level concerning the direction. This ground driving way most common use. General use two bearing wheel, and along the laying on the ground track (usually also called to rail) operation. Through the bottom two groups of level round orbit direction, the top two groupsin stacker guide wheel along in orbit (usually also called day rail) operation auxiliary oriented. According to the running track form difference, there is a straight line type stacker and curve operation type stacking machine.2.2. L straight lines type stacking machine.Straight line type stacker can only be in the roadway straight orbit, unable to convert roadways. Only through the other transportation equipment of transformation, such as stacker car transport. Straight line type stacker can realize the operation, and can satisfy the loading and unloading higher frequency three-dimensional storehouse homework, most widely used.2.2.2 curve operation type stacking machine.Curve operation type stacking locomotive wheels and the beam under the vertical axis of the hinged, can be in the ring or other curve orbit, can go curve, not through the other transportation equipment can then from a roadway to transfer to another roadways. Such stacker usually also called transition stacker. Curve operation type stacker in used on have limitations, only appliesto the loading and unloading frequency low three-dimensional storehouse. Because not only by the turning radius to the limit, and turning special slow speed, and can't meet the person library of frequency and high warehouse operation.3. The position of the roadway stacking crane development trend.Along with the development of modern industrial production, stacking crane technology of version continuously improved and perfected. The world's major industrial countries starting point on the development of new products and reliable performance and high on the operation on pay more attention to the practicality and safety.In stacker, we shall see and world advanced nation gap, summarizing the experience find out the deficiency, break traditional ideas, has introduced new appearance and higher performance stacker. In make stacking machine has higher precision at the same time, increase speed to get shorter operation cycle and more production ability.Believe that, through our continuous efforts more high speed, safe and reliable heapwhen the machine will continue to digest imported from abroad domestic, make the position of stacking crane development roadway to an update to the stage.中文翻译：有轨巷道堆垛机技术现状及发展趋势1 概述有轨巷道堆垛起重机是随着立体仓库的出现而发展起来的专用起重机，通常简称为堆剁机，堆垛机是立体仓库中最重要的起重运输设备，是代表立体仓库特征的标志。

中英文资料外文翻译文献附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

工业机械手是工业机器人的一个重要分支。

它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。

机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。

随着工业自动化的发展, 出现了数控加工中心,它在减轻工人的劳动强度的同时, 大大提高了劳动生产率。

但数控加工中常见的上下料工序, 通常仍采用人工操作或传统继电器控制的半自动化装置。

前者费时费工、效率低; 后者因设计复杂, 需较多继电器,接线繁杂, 易受车体振动干扰,而存在可靠性差、故障多、维修困难等问题。

可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力, 保证了系统运行的可靠性,降低了维修率, 提高了工作效率。

机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。

一、工业机械手的概述机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。

在工资水平较低的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。

那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。

但现在的变化是那些分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。

随着我国工业生产的飞跃发展，特别是改革开发以后，自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自化，已愈来愈引起我们重视。

机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。

外文原文Introduction to Industrial RobotsIndustrial robets became a reality in the early 1960’s when Joseph Engelberger and George Devol teamed up to form a robotics company they called “Unimation”.Engelberger and Devol were not the first to dream of machines that could perform the unskilled, repetitive jobs in manufacturing. The first use of the word “robots” was by the Czechoslovakian philosopher and playwright Karel Capek in his play R.U.R.(Rossum’s Universal Robot). The word “robot” in Czech means “worker” or “slave.” The play was written in 1922.In Capek’s play , Rossum and his son discover the chemical formula for artificial protoplasm. Protoplasm forms the very basis of life.With their compound,Rossum and his son set out to make a robot.Rossum and his son spend 20 years forming the protoplasm into a robot. After 20 years the Rossums look at what they have created and say, “It’s absurd to spend twenty years making a man if we can’t make him quicker than nature, you might as w ell shut up shop.”The young Rossum goes back to work eliminating organs he considers unnecessary for the ideal worker. The young Rossum says, “A man is something that feels happy , plays piano ,likes going for a walk, and in fact wants to do a whole lot of things that are unnecessary … but a working machine must not play piano, must not feel happy, must not do a whole lot of other things. Everything that doesn’t contribute directly to the progress of work should be eliminated.”A half century later, engi neers began building Rossum’s robot, not out of artificial protoplasm, but of silicon, hydraulics, pneumatics, and electric motors. Robots that were dreamed of by Capek in 1922, that work but do not feel, that perform unhuman or subhuman, jobs in manufacturing plants, are available and are in operation around the world.The modern robot lacks feeling and emotions just as Rossum’s son thought it should. It can only respond to simple “yes/no” questions. The moderrn robot is normally bolted to the floor. It has one arm and one hand. It is deaf, blind, and dumb. In spite of all of these handicaps, the modern robot performs its assigned task hour after hour without boredom or complaint.A robot is not simply another automated machine. Automation began during the industrial revolution with machines that performed jobs that formerly had been done by human workers. Such a machine, however , can do only the specific job for which it was designed, whereas a robot can perform a variety of jobs.A robot must have an arm. The arm must be able to duplicate the movements of a human worker in loading and unloading other automated machines, spraying paint, welding, and performing hundreds of other jobs that cannot be easily done with conventional automated machines.DEFINITION OF A ROBOTThe Robot Industries Association(RIA) has published a definition for robots in an attempt to clarify which machines are simply automated machines and which machines are truly robots. The RIA definition is as follows:“A robot is a reprogrammabl e multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”This definition, which is more extensive than the one in the RIA glossary at the end of this book, is an excellent definition of a robot. We will look at this definition, one phrase at a time, so as to understand which machines are in fact robots and which machines are little more than specialized automation.First, a robot is a “reprogrammable multifunctional manipulator.” In this phrase RIA tells us that a robot can be taught (“reprogrammed”) to do more than one job by changing the informaion stored in its memory. A robot can be reprogrammed to load and unload machines, weld, and do ma ny other jobs (“multifunctional”). A robot is a“manipulator”. A manipulator is an arm( or hand ) that can pick up or move things. At this point we know that a robot is an arm that can be taught to do different jobs.The definition goes on to say that a ro bot is “designed to move material, parts, tools, or specialized devices.” Material includes wood,steel, plastic, cardboard… anything that is used in the manufacture of a product.A robot can also handle parts that have been manufactured. For example, a robot can load a piece of steel into an automatic lathe and unload a finished part out of the lathe.In addition to handling material and parts, a robot can be fitted with tools such as grinders, buffers, screwdrivers, and welding torches to perform useful work.Robots can also be fitted with specialized instruments or devices to do special jobs in a manufacturing plant. Robots can be fitted with television cameras for inspection of parts or products. They can be fitted with lasers to accurately mearure the size of parts being manufactured.The RIA definition closes with the phrase,”…through variable programmed motions for the performance of a variety of tasks.” This phrase emphasizes the fact that a robot can do many different jobs in a manufacturing plant. The variety of jobs that a robot can do is limited only by the creativity of the application engineer.JOBS FOR ROBOTSJobs performed by robots can be divided into two major categories:hazardous jobs and repetitive jobs.Hazardous JobsMany applications of robots are in jobs that are hazardous to humans. Such jobs may be considered hazardous because of toxic fumes, the weight of the material being handled, the temperature of the material being handled, the danger of working near rotating or press machinery, or environments containing high levels of radiation. Repetitive JobsIn addition to taking over hazardous jobs, robots are well suited to doingextremely repetitive jobs that must be done in manufacturing plants.many jobs in manufacturing plants require a person to act more like a machine than like a human. The job may be to pick a piece up from here and place it there. The same job is done hundreds of times each day. The job requires little or no judgment and little or no skill. This is not said as a criticism of the person who does the job , but is intended simply to point out that many of these jobs exist in industry and must be done to complete the manufacture of products. A robot can be placed at such a work station and can perform the job admirably without complaining or experiencing the fatigue and boredom normally associated with such a job.Although robots eliminate some jobs in industry, they normally eliminate jobs that humans should never have been asked to do. Machines should perform as machines doing machine jobs, and humans should be placed in jobs that require the use of their ability,creativity, and special skills.POTENTIAL FOR INCREASED PRODUCTIVITYIn addition to removing people from jobs they should not have been placed in, robots offer companies the opportunity of achieving increased productivity. When robots are placed in repetitive jobs they continue to operate at their programmed pace without fatigue. Robots do not take either scheduled or unscheduled breaks from the job. The increase in productivity can result in at least 25% more good parts being produced in an eight-hour shift. This increase in productivity increases the company's profits, which can be reinvested in additional plants and equipment. This increase in productivity results in more jobs in other departments in the plant. With more parts being produced, additional people are needed to deliver the raw materials to the plant, to complete the assembly of the finished products, to sell the finished products, and to deliver the products to their destinations.ROBOT SPEEDAlthough robots increase productivity in a manufacturing plant, they are notexceptionally fast. At present, robots normally operate at or near the speed of a human operator. Every major move of a robot normally takes approximately one second. For a robot to pick up a piece of steel from a conveyor and load it into a lathe may require ten different moves taking as much as ten seconds. A human operator can do the same job in the same amount of time . The increase in productivity is a result of the consistency of operation. As the human operator repeats the same job over and over during the workday, he or she begins to slow down. The robot continues to operate at its programmed speed and therefore completes more parts during the workday.Custom-built automated machines can be built to do the same jobs that robots do. An automated machine can do the same loading operation in less than half the time required by a robot or a human operator. The problem with designing a special machine is that such a machine can perform only the specific job for which it was built. If any change is made in the job, the machine must be completely rebuilt, or the machine must be scrapped and a new machine designed and built. A robot, on the other hand, could be reprogrammed and could start doing the new job the same day.Custom-built automated machines still have their place in industry. If a company knows that a job will not change for many years, the faster custom-built machine is still a good choice.Other jobs in factories cannot be done easily with custom-built machinery. For these applications a robot may be a good choice. An example of such an application is spray painting. One company made cabinets for the electronics industry. They made cabinets of many different sizes, all of which needed painting. It was determined that it was not economical for the company to build special spray painting machines for each of the different sizes of enclosures that were being built. Until robots were developed, the company had no choice but to spray the various enclosures by hand.Spray painting is a hazardous job , because the fumes from many paints are both toxic and explosive. A robot is now doing the job of spraying paint on the enclosures.A robot has been “taught” to spray all the different sizes of enclosures that the company builds. In addition, the robot can operate in the toxic environment of the spray booth without any concern for the long-term effect the fumes might have on aperson working in the booth.FLEXIBLE AUTOMATIONRobots have another advantage: they can be taught to do different jobs in the manufacturing plant. If a robot was originally purchased to load and unload a punch press and the job is no longer needed due to a change in product design, the robot can be moved to another job in the plant. For example, the robot could be moved to the end of the assembly operation and be used to unload the finished enclosures from a conveyor and load them onto a pallet for shipment.ACCURACY AND REPEATABILITYOne very important characteristic of any robot is the accuracy with which it can perform its task. When the robot is programmed to perform a specific task, it is led to specific points and programmed to remember the locations of those points. After programming has been completed, the robot is switched to “run” and the program is executed. Unfortunately, the robot will not go to the exact location of any programmed point. For example, the robot may miss the exact point by 0.025 in. If 0.025 in. is the greatest error by which the robot misses any point- during the first execution of the program, the robot is said to have an accuracy of 0.025 in.In addition to accuracy , we are also concerned with the robot’s repeatability. The repeatability of a robot is a measure of how closely it returns to its programmed points every time the program is executed. Say , for example, that the robot misses a programmed point by 0.025 in. the first time the program is executed and that, during the next execution of the program, the robot misses the point it reached during the previous cycle by 0.010 in. Although the robot is a total of 0.035 in. from the original programmed point, its accuracy is 0.025 in. and its repeatability is 0.010 in.THE MAJOR PARTS OF A ROBOTThe major parts of a robot are the manipulator, the power supply, and the controller.The manipulator is used to pick up material, parts, or special tools used in manufacturing. The power supply suppplies the power to move the manipulator. The controller controls the power supply so that the manipulator can be taught to perform its task.外文翻译工业机器人的介绍20世纪60年代当约瑟夫和乔治合作创立了名为Unimation的机器公司，工业机器人便成为了一个事实。

外文翻译外文资料：RobotsFirst, I explain the background robots, robot technology development. It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need. Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, forinstance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide. Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation. So far, the industrial robot is the most mature and widely used category of a robot, now the world's total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small. Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly. Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot. It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement. So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wristposture adjustment to the use of the three autonomy, the general robot has six degrees of freedom. We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom. Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc. These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference. It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, etc. It’s surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robot’s one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming. The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up. This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas. If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited. Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside. a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, peoplewould not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate. This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass surgery. This robot has in the area, caused a great sensation, but also, AESOP's surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery Robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctor's movements linked, the doctor hands off, lighting went off, This is very good, a doctor's assistant.Robot is mankind's right-hand man; friendly coexistence can be a reliable friend. In future, we will see and there will be a robot space inside, as a mutual aide and friend. Robots will create the jobs issue. We believe that there would not be a "robot appointment of workers being laid off" situation, because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, to create a better spiritual wealth and cultural wealth.译文资料：机器人首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。