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宁波大红鹰学院毕业设计（论文）外文翻译所在学院：机电学院班级：姓名：学号：指导教师：合作导师：年月日原文：题目Robot'smechanicalandcontrolsystems1、thegeneralstructureoftherobothandArobothandcanbedividedintotwomainsubsystems:mechanicalsystemsandcontrolsystems.Mechanicalsystemscanbedividedintostructuraldesign,drivesystemsandsensorsystems,wewillfurtherintroduceinthethirdpart.Inthefourthsectiondescribesthecontrolsystematleastbythecontrolhardwareandcontrolsoftware.Thesetwosubsystemswewillmakesomebasicintroductiontotheproblem,thenusetheKarlsruheDexterousHandⅡshowyou.2、themechanicalsystemMechanicalsystemswilldescribehowthislooks,andbywhathandcomponents.Itdeterminesthestructuraldesign,thenumberoffingersandtheuseofmaterials.Inaddition,todeterminethedrive(suchasmotors),sensors(suchaspositionencoder)position.2.1StructuralDesignStructuraldesignofflexiblerobotwillplayalargerole,thatitcancaptureandwhattypeofobjectcanbegraspedobjectwhattodo.Designofarobothand,itmustidentifythreebasicelements:thenumberoffingers,fingerjointsandthenumberofdimensionsandplacementofthefinger.Tobeabletoworkinthecontextofrobotcrawlingandsafeoperationoftheobject,atleastthreefingers.Tobeabletobegraspedobjectoperationsgetsixdegreesoffreedom(threetranslationalandthreerotationaldegreesoffreedom),eachfingermusthavethreeseparatejoints.InthiswaythefirstgenerationofKarlsruheDexteroushandsareusedtoo.However,inordertore-graspanobjectwithoutreleasingitfirst,thenpickupagain,atleastfourfingers.2.2DriveSystemKnuckledrivetheopponent'sflexibilityalsohaveagreatimpact,becauseitdeterminesthepotentialstrength,accuracyandspeedofjointmovement.Mechanicalmovementofthetwoareaswhichneedtobeconsidered:sourcesandmovementdirectionofmotion.Inthisregard,theliteraturedescribesseveraldifferentmethods,suchasin[3]thatbyhydrauliccylindersorpneumaticcylinderinmotion,or,asinmostcasesusethesamemotor.Inmostcases,themotiondrive(suchasamotor)istoolargeandnotdirectlywiththecorrespondingfingerjointstogether,therefore,thismovementmustdrive(usuallylocatedonthearmatt
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