sz—10080塑料注射机液压系统设计【含CAD图纸和说明书】.zip

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本科毕业设计
外文文献及译文
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外文文献:
ORIGINALARTICLE
ArtifLifeRobotics(2011)16:86–89©ISAROB2011
-011-0892-1
···

,themachine’sweight(25kg),becausemostofthemountainsinJapanhavesteepslopes,,,.,,,,wereportourprogressindevelopingtherobot,focusingonstraightclimbing,itsbehavioronunevensurfaces,,wehavedevelopedanovelclimbingmethodthatusesnopressingorgraspingmechanism,butreliesontheweightoftherobotitself,likeatraditionalJapanesetimberjackdoeswhenclimbingatree().Thetimberjackusesasetofrodsandropes,whichiscalled“Burinawa,”anddoesnotholdorgraspthetreestrongly,,,,,
AbstractThisarticlepresentsthedevelopmentofatimberjack-’smainfeaturesincludehavingitscenterofmassoutsidethetree,,focusingonstraightclimbing,
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behavioronunevensurfaces,andpruning.
KeywordsPruningrobot·Climbingrobot
,,aprunedtreeinasuitablytrimmedstateisworthmoneybecauseitslumberhasabeautifulsurfacewithwell-–5hasbeenrare,andReceivedandaccepted:February25,2011
(*)
DepartmentofMechanicalEngineering,ToyotaNationalCollegesof
Technology,2-1Eiseicho,Toyota,Aichi471-8525,Japan
e-mail:s_******@toyota-
·
DepartmentofHumanandInformationSystemsEngineering,Gifu
University,Gifu,Japan

.,Seki,Japan

HashimaKaryuuKougyouLtd.,Gifu,Japan
Thisworkwaspresentedinpartatthe16thInternationalSymposium
onArtificialLifeandRobotics,Oita,Japan,January27–29,2011
87
,,,thecenterofmasswaslocatedwithparametersH==,whereHisthedistancebetweentheuppersidewheelandthelowersidewheel,andWisthedistancebetweenthesurfaceofthetrunkandthecenterofmass,,.Avelocityfeedbackinputthroughahigh-,8the3rdprototypeislightweightexceptforthecontrollerandbatteries.
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Also,,anexperimentwasperformedtoshowthecuttingofabranchusingthe3rdprototype.
3Experiments
-,,themotorcurrent,thepositionoftherobot,-Dpositionmeasurementdevice(OPTOTRAK,NorthernDigital).Theorientationwasmeasuredbya3-Dorientationsensor(InertiaCube2,InterSense).
“BURINAWA”
-back-,7–9thecenterofmasswaslocatedoutsidethetreewiththehelpoftheweightofthecontrollerand

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Astraightclimbingexperimentwasperformedtoevaluatetherobot’,.,5,.5sowingtothecontrollaw,“3D”valuewasmeasuredbya3Dpositionmeasurementdevice,,wefoundthreetypesoferror:errorsinthedistancemovedbetweeneachwheelandthe3Dpositionmeasurementdevice(E1);errorbetweenwheel1(or3)andwheel2(or4)(E2);errorbetweenwheel1andwheel3(anderrorbetweenwheel2andwheel4)(E3).
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,7–,Fn4=Fn2>Fn3=Fn1wasconsidered,(E1)and(E2)(E3),–.

Tousetherobotsafely,,,/,whichshowsthetrajectoriesofangles1and2().Angle2rotatedtowardtheplusdirectioninallcases,,,,theseanglesreturnedtotheirformerorientation,.
-.01m.




bump,bWheel2goesoverthebump,cWheel3goesoverthebump,dWheel4goesoverthebump
,
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,andthetrunkwasnotinjured.
4Conclusion
Thedevelopmentalprogressofatimberjack-likepruningrobothasbeendescribed,focusingonstraightclimbing,itsbehavioronanunevensurface,,,thepruningexperiment
,wehopetotesttherobotinarealenvironment,
andtrytomakesomefurtherimprovements.
References
,etal(2009)Developmentofstreettreeclimbingrobot
WOODY-2(inJapanese).ProceedingsofRobomec2009,1A2–D07
,etal(2006)Developmentofstructureofmeasuring
graspingpowertocontrolsimplificationoftree,climbingand
pruningrobotWoody-1(inJapanese).Proceedingsofthe2006
JSMEConferenceonRoboticsandMechatronics
,etal(2006)Developmentoftree-climbingandpruning

revolvingmotion(inJapanese).ProceedingsofSI2006,pp
1267–1268
,KumagaiK,AraiY,etal(2006)Performanceevaluation
ofbranchesmapbuildingsystemforpruningrobot(inJapanese).
Proceedingsofthe2006JSMEConferenceonRoboticsand
Mechatronics
,MaedaK,SakaidaY,etal(2005)Studyonapruning
systemusingrobots:developmentofprototypeunitsforrobots(in
Japanese).Proceedingsofthe2005JSMEConferenceonRobotics
andMechatronics
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,MurakamiS,KachiH,etal(2008)Analysisandexperiment

Conference2008,pp160–163
,MurakamiS,KoganemaruK,etal(2010)Development

Clawar2010,pp455–463
,KoganemaruK,TanakaA,etal(2010)Developmentofa
pruningrobotwiththeuseofitsownweight(inJapanese).Proceedings
ofRSJ2010,Nagoya
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中文译文:
人工生命的机器人(2011)16:86–89©isarob 2011
-011-0892-1
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。这台机螺旋地爬上一棵树使用电锯修剪树枝。然而,机器的重量(25公斤)和缓慢的速度阻碍它成为解决森林危机的最佳解决方案。一个轻量级的平台是必需的,因为在日本,大部分山脉有陡峭的山坡,一个修剪机器人运输是一项艰巨的任务。以提前修剪机器人的艺术状态,我们提出一个创新的修剪机器人对于外面大多数的树都能高效工作。它的轮系机构的设计是为了适应于混合爬山,即,机器人能够开关之间的直线和螺旋爬升。该方法保证了机器人的轻量化和高爬的速度特征在早期的出版物,我们介绍了基本的设计概念和描述的原型实验机器人了。此外,混合爬山法已经证明,该修剪机器人可以高速的爬上爬下大树。在这里,我们报告我们开发机器人的进展,专注于直爬,善于不平坦的表面上的工作,和修剪。2先进的修剪机器人随着建设轻修剪的终极目标机器人,我们已经开发了一种新型的爬山法,采用无压或抓机制,而是依靠机器人本身的重量,像日本传统的伐木工不会爬树的时候(图1)。该用的一套杆和绳子,这是所谓的“burinawa,“不握不住或抓住树干,而他的质量中心位于树。是的,该可以用自己的重量停留在树上。基于这一新的林业产业的设计概念和要求,修剪机器人有了很大的发展。如图2所示,该机器人配备了四主动轮。轮1和2位于上侧,轮3和4位于下侧。每个轮由直流伺服电机、蜗轮驱动。
摘要本文介绍了一个伐木工的发展—像修剪机器人。攀登主要是模仿在日本的timberjacks攀登方法。机器人的主要功能包括对外面的树进行修剪工作,和一个创新的爬山策略融合直线和螺旋式攀升的方式