毕业设计论文外文资料翻译
系别：专业：班级：姓名：学号：外文出处：附件：1原文；2译文
2013年03月
1
f附件一：
ARapidlyDeployableMa
ipulatorSystem
Christiaa
JJParedisHBe
jami
Brow
PradeepKKhosla
AbstractArapidlydeployablema
ipulatorsystemcombi
estheflexibilityofreco
figurable
modularhardwarewithmodularprogrammi
gtoolsallowi
gtheusertorapidlycreateama
ipulatorwhichiscustomtailoredforagive
taskThisarticledescribestwomai
aspectsofsuchasystem
amelytheReco
figurableModularMa
ipulatorSystemRMMShardwarea
dthecorrespo
di
gco
trolsoftware
1I
troductio
Robotma
ipulatorsca
beeasilyreprogrammedtoperformdiffere
ttasksyetthera
ge
oftasksthatca
beperformedbyama
ipulatorislimitedbymecha
icalstructureForexampleama
ipulatorwellsuitedforprecisemoveme
tacrossthetopofatablewouldprobably
obecapableoflifti
gheavyobjectsi
theverticaldirectio
Thereforetoperformagive
tasko
e
eedstochooseama
ipulatorwitha
appropriatemecha
icalstructure
Weproposetheco
ceptofarapidlydeployablema
ipulatorsystemtoaddresstheaboveme
tio
edshortcomi
gsoffixedco
figuratio
ma
ipulatorsAsisillustratedi
Figure1arapidlydeployablema
ipulatorsystemco
sistsofsoftwarea
dhardwarethatallowtheusertorapidlybuilda
dprogramama
ipulatorwhichiscustomtailoredforagive
task
Thece
tralbuildi
gblockofarapidlydeployablesystemisaReco
figurableModularMa
ipulatorSystemRMMSTheRMMSutilizesastockofi
tercha
geableli
ka
djoi
tmodulesofvarioussizesa
dperforma
cespecificatio
sO
esuchmoduleisshow
i
Figure2Bycombi
i
gthesege
eralpurposemodulesawidera
geofspecialpurposema
ipulatorsca
beassembledRece
tlytherehasbee
co
siderablei
teresti
theideaofmodularma
ipulators245791014forresearchapplicatio
saswellasfori
dustrialapplicatio
sHowevermostofthesesystemslackthepropertyofreco
figurabilitywhichiskeytotheco
ceptofrapidlydeployablesystemsTheRMMSisparticularlyeasyto
2
freco
figuretha
kstoitsi
tegratedquickcoupli
gco
ectorsdescribedi
Sectio
3EffectiveuseoftheRMMSrequiresTaskBasedDesig
softwareThissoftwaretakes
asi
putdescriptio
softhetaska
doftheavailablema
ipulatormodulesitge
eratesasoutputamodularassemblyco
figuratio
optimallysuitedtoperformthegive
taskSeveraldiffere
tapproacheshavebee
usedsuccessfullytosolvesimplifiedi
sta
cesofthiscomplicatedproblem
Athirdimporta
tbuildi
gblockofarapidlydeployablema
ipulatorsystemisaframeworkforthege
eratio
ofco
trolsoftwareToreducethecomplexityofsoftwarege
eratio
forrealtimese
sorbasedco
trolsystemsasoftwareparadigmcalledsoftwareassemblyhasbee
proposedi
theAdva
cedMa
ipulatorsLar