【機(jī)械類畢業(yè)論文中英文對(duì)照文獻(xiàn)翻譯】ResQuake：遠(yuǎn)程操作救援機(jī)器人【PDF英文11頁(yè)word中文翻譯3633字7頁(yè)】【有出處】

【機(jī)械類畢業(yè)論文中英文對(duì)照文獻(xiàn)翻譯】ResQuake：遠(yuǎn)程操作救援機(jī)器人【PDF英文11頁(yè)word中文翻譯3633字7頁(yè)】【有出處】,機(jī)械類畢業(yè)論文中英文對(duì)照文獻(xiàn)翻譯,PDF英文11頁(yè),word中文翻譯3633字7頁(yè),有出處,機(jī)械類,畢業(yè)論文,中英文,對(duì)照,對(duì)比,比照,文獻(xiàn),翻譯,resquake,遠(yuǎn)程,操作,救援,救濟(jì),營(yíng)救,機(jī)器人 附件2：外文原文（復(fù)印件） ResQuake: A Tele-Operative Rescue Robot The design procedure of ResQuake as a tele-operative rescue robot and its dynamics analysis, manufacturing procedure, control system, and slip estimation for performance improvement are discussed. First, the general task to be performed by the robot is defined, and various mechanisms to form the basic structure of the robot are discussed. Choosing the appropriate mechanisms, geometric dimensions, and mass properties are detailed to develop kinematic and dynamic models for the system. Next, the strength of each component is analyzed to finalize its shape, and the mechanism models are presented. Then, the control system is briefly described, which includes the operator’s PC as the master processor, and the laptop installed on the robot as the slave processor. Finally, slip coefficients of tracks are identified and validated by experimental tests to improve the system tracking performance. ResQuake has participated with distinction in several rescue robot leagues. [DOI: 10.1115/1.3179117] Keywords: mobile robots, tele-operative, locomotion mechanisms, control architecture, slippage estimation 1 Introduction Mobile manipulators, which consist of a platform and one or more manipulators, have an unlimited workspace. Therefore, various legged, wheeled, tracked, and flying systems have been proposed, and successfully put into practice. Such systems are used in different kinds of fields such as fire fighting, forestry, deactivating bombs, toxic waste cleanup, transportation of materials, space onorbit services, and similar applications in which human health is endangered [1]. So, it is expected that mobile robots, whether autonomous or tele-operative, play a more important role in different fields of human life. However, in a mobile robotic system, dynamic forces affect the motion of the base and the manipulators, based on the action and reaction principle. Therefore, kinematics, dynamics, and control of such systems have received extensive research attention [2–5]. Earthquake is a natural incident, which threatens human life. Aftershocks occurring a while after the main earthquake cause secondary collapses and may take victims away from the search and rescue personnel. In order to minimize the risks for rescuers, while increasing victim survival rates, exploiting fielding teams of collaborative robots is a good alternative. The mission for the robots and their operators would be to find victims, determine their situation, and then report their findings based on a map of the building [6,7]. This information will immediately be given to human rescue teams. Further expectations of rescue robots such as being able to autonomously search collapsed structures, finding victims and ascertain their conditions, delivering sustenance and communications to the victims, and emplacing sensors (acoustic, thermal, seismic, etc.) are ongoing research subjects. Nevertheless, the basic capability of rescue robots is their maneuverability in destructed areas, which thoroughly depends on their locomotion system and their dimensions. Various rescue robots were designed and manufactured so far [8,9]. This paper presents an illustrative description of the ResQuake project at Khaje Nasir Toosi University (KNTU), as shown in Fig. 1. First, designing procedure for the locomotion mechanism will be detailed, and the system dimensions and related parameters are determined. Next, the system kinematics and dynamics is discussed, and the sequence of stress analysis for each member of the mechanism is addressed. Then, the robot control system is described. Finally, slip coefficients are identified and validated by various tests to improve the system tracking performance. ResQuake has great capabilities for moving in unstructured environment, on rough trains, and even climbing stairs, with a user-friendly operative interface. Its performance has been demonstrated in the rescue robot league of RoboCup 2005 in Osaka, Japan, achieving the second best design award, RoboCup 2006 in Bremen, Germany, achieving the best operator interface award, and RoboCup 2008 in Suzhou, China, achieving the second best award for mobility. Fig. 1 ResQuake in different conditions;(left)folded tracks,(right)extended tracks climbing up a ramp uneven surface 2 Mechanism Design There are three major categories of search and rescue robots in terms of their locomotion system, i.e., wheeled, tracked, and legged robots. Wheeled robots could be considered for searching flat areas. Developing the autonomy for these systems is easier due to their simple dynamics. A wheeled robot is also capable of climbing obstacles with a height smaller than their wheels. Tracked robots are used mostly because of their great ability to move on uneven terrains. Figure 2 shows wheeled and tracked systems facing the same obstacle _stair_. It can be seen that a smaller tracked robot has the same capability. Fig. 2 Two types of locomotion systems encountering the same obstacle Legged robots usually possess high degrees of freedom (DOFs), and thus, high maneuverability. Consequently, dynamics modeling and stability of such systems is more complicated than the former types. Besides, implementation of such systems requires numerous actuators and sensors, so their control is more expensive. It should be also mentioned that with a combination of the two wheeled and legged mechanisms, advantages of both locomotion systems can be preserved while shortcomings are prevented (10). In a hybrid wheel-legged mechanism, wheeled mechanism can support the weight of the legged mechanism, while the legged mechanism can move the robot on a rough terrain. Regardless of the type of locomotion system, the size of a rescue robot is also an important issue. In a destructed indoor environment, some obstacles may exist such as collapsed walls or ceilings that cannot be easily passed by usual systems. In such situations, the robot should search for a bypass or a way between the obstacles rather than climbing over them; that definitely depends on its size. A relatively small robot can easily pass a narrow passageway and continue its search. It should be noted that stairways are an inseparable part of an indoor environment. Whether destructed or not, a rescue robot should have the ability to climb up and down stairways in order to search the whole area. In order to compromise between the two contradictory aspects of providing a small robot with high maneuverability, a tracked mechanism has been developed for ResQuake. This mechanism includes a main body (base) with two expandable tracks (arms). This arrangement enables the robot to resize depending on the situation it encounters. Accordingly, these tracks should have a minimum length to prevent loosing its balance, and having a steady movement on successive stairs without extra vibrations, as shown in Fig. 3(a). On the other hand, lengthy tracks such as those of a simple track robot will require a wide area for turning, as shown in Fig. 3(b), which is rarely available in a destructed environment. Fig. 3 (a) Minimum length for tracks of the robot and (b) minimum turning radius of a simple track robot 2.1 Expandable Tracks(Arms) The structure shown in Fig. 4 enables the robot to expand the length of its tracks to pass through obstacles. On the other hand, when the robot is going through narrow passages and needs to be rather small, the front tracks can be folded. This helps with reducing the turning radius as well. Folding arms was the original idea, developed to overcome the aforementioned contradiction. This concept has been improved to a system with two pairs of arms at both sides of the vehicle, as shown in Fig. 4(b), to reduce the length of the robot with folded arms while the expanded length fulfills other requirement. Another advantage would be the symmetry of the structure, which enables the robot to move equivalently in both forward and backward directions. This arrangement facilitates turning in a confined space. Next, the arms are placed in the same plane to reduce the robot width (Fig. 5_a). Finally, another joint is added to each arm in order to use an extra area between the arms when they are folded, Fig. 5(b). Therefore, the tracks on each side of the robot are stretched into three parallel planes, which provide a more efficient traction. Fig. 4 (a) Preliminary design of just front tracks (arm) and (b) improved design with two pairs of arms (front and rear) Fig. 5 (a) Making the tracks collinear to reduce the width of robot and (b) final mechanism chosen for the tracks Adding four independent (active) joints to the system would increase the number of actuators and consequently the total price of the system. Therefore, a planetary gear set has been used to simply transmit the power of the main joint of each arm to its second joint. So, rotation of the two parts for each arm will be dependent. The gear ratio is obtained, considering two desirable configurations of the arms; (i) fully stretched and (ii) fully folded, such that the arms can move, based on a desired plan between these two configurations (Fig. 6). Fig. 6 The path for motion of the arms As shown in Fig. 6, for a pai/2 rad rotation of the main part of arm, the second part should rotate more than pai rad. The gear chain with such performance should be a planetary gearbox. The main part of the first arm plays the role of the arm in the planetary chain, which is directly powered by a motor. The sun gear should be attached to the main body of the robot, and the planet gear is attached to the second part of the arm. A pair of medium gears is placed between the sun and the planet where the diameter of gears does not exceed a given threshold, which is the diameter of the main wheels of the tracks (Fig. 7). Another advantage of this mechanism is that the center distance of the two joints of the arm will remain constant during its rotation. This enables us to fill the gap between the main track, and the arm with another track. This track is used to transmit power from the main part of the tracks to the second part on the arm. Fig. 7 Planetary gear chain Helical gears are chosen for the planetary gear set, due to their small backlash and higher strength of gear tooth comparing with spur gears [11, 12]. The angular velocity of the arm should be less than 2–4 rpm. The motor’s output velocity is 3000 rpm. Hence, the velocity ratio between the motor and the link should be approximately 1000. A combination of a three stage planetary gearbox (constructed right at the motor shaft where the angular velocity is relatively high) with a ratio of 3:1 at each stage, and a worm gear set with a ratio of 30:1 provides the desirable ratio in a limited available space (Fig. 8). A dc motor drives the tracks at each side of the robot. Fig. 8 Final designed arrangement for the arms 2.2 Tracks The traction of the locomotion system strongly depends on the friction between the track pieces and the surface on which the robot moves. Therefore, the material and the shape of the track pieces are of great importance [13]. On the other hand, the tracks should also bear a reasonable tension. Designed tracks are made of two main parts. A basis of chain-sprocket provides the system with sufficient tensile strength, and tooth shaped pieces made of latex fills the gap between the chain and the surface to create the required friction. Metal chains have been modified by replacing pins of the standard chain with longer pins, and the latex grousers are mounted directly on them. Figure 9 shows modified chains and how the grousers are mounted on these pins. One of the most important problems caused by base movement, when the system undergoes a fast maneuver or tries to climb a slopped terrain, is the instability problem or tipping over [14]. Noting this, two major advantages are obtained by including a suspension mechanism. The suspension system was designed by containing two surfaces on the main body, and then attaching them by a revolute joint (Fig. 9). A pair of linear springs limits the angle of rotation and makes the system remain at a desired position when no extra forces are applied. It should be mentioned that the use of dampers was not needed because the friction of the sliding bearings used as the so-called joints was enough to limit any extra shaking of the springs. Fig. 9 Top: latex pieces fixed on the chain; bottom: basic structure of the suspension system 2.3 Final Dimensions Finishing the design of locomotion mechanisms, the dimensions are to be determined. Some of the components like metal chains and sprockets are available as standard parts, so that other dimensions should match their counterparts. Besides, the overall size of the robot and the formulas on the gear chains must be considered in the calculations. Since numerous equations govern these factors, an optimized solution is not reachable by manual calculations. Thus, MATLAB has been used to find the desired values from a set of equations. The main dimensions considered in this procedure are shown in Fig. 10 and summarized in Table 1. Fig. 10 Main lengths for determining the other dimensions Table 1 Dimensional parameters of robot … …