英语翻译In order to rigidlyconnect both ends of the upper longitudinal stiffeners using steelwire,the hand-clamps for fixing it at one side of the upperlongitudinal stiffeners and the hand-winch for withstandingtensile forces of the steel w

英语翻译In order to rigidlyconnect both ends of the upper longitudinal stiffeners using steelwire,the hand-clamps for fixing it at one side of the upperlongitudinal stiffeners and the hand-winch for withstandingtensile forces of the steel w
英语翻译
In order to rigidly
connect both ends of the upper longitudinal stiffeners using steel
wire,the hand-clamps for fixing it at one side of the upper
longitudinal stiffeners and the hand-winch for withstanding
tensile forces of the steel wire at the other side are used.This
can then provide a means of transporting the RRXC along the
connected steel wire using the electric winches; with a roller for
interfacing with the steel wire.In addition,the RRXC has an eye-
bolt of M12 size on the top of the vertical arm,for interfacing with
the electric winch,which has a hook.Thus,it can also provide a
means of lifting the RRXC up and down.
Fig.11 shows the successive process of fitting the RRXC
through a 500 Â 700 mm2 access hole in the double-hulled block.
It also shows that the sliding plate provides a means of
transporting three RRXCs in the longitudinal direction simulta-
neously,and the bridge plate provides a means of fitting through a
500 Â 700 mm2 access hole by supporting the weight of the RRXC
robot.In these cases,to fit the system through the access hole,
two electric winches and two workers are needed to carry it
across to the other side.Fig.12 shows the overall process of
installing the auxiliary transportation devices,commitment
directions of the number of RRXC,and working directions in the
double-hulled block.The retrieval of the robot is carried out by
performing the process in reverse.It is noted that the proposed
transportation system may lead to the useful applications in other
operations,such as transportation of ladders.
6.Workspace analysis and simulation
Fig.13 shows a kinematic model of the RRX welding robot,
which is a 3P3R manipulator consisting of a PPPRRR serial chain,
where P and R denote prismatic and revolute joints,respectively.
The manipulator has six degrees of freedom with six active joints,
each of which is indicated by an arrow in Fig.6(a).The Denavit-
Hartenberg parameters used to solve the kinematics of the 3P3R
manipulator shown in Fig.13 are listed in Table 4,where ai–1,ai–1,
di,and yi are the link twist angle,link length,joint distance,and
joint angle,respectively,with respect to joint i.

英语翻译In order to rigidlyconnect both ends of the upper longitudinal stiffeners using steelwire,the hand-clamps for fixing it at one side of the upperlongitudinal stiffeners and the hand-winch for withstandingtensile forces of the steel w
为了使上面纵向刚性元件的末端能够用钢丝紧固连接,需要用到一个用于在一侧固定纵向刚性元件的手钳和一个用于在另一侧抵抗钢丝张力的手动绞车.这样可以将RRXC沿着连接的钢丝用电动绞车输送过来,有滚筒用于处理钢丝.另外,RRXC在垂直臂的顶部有个尺寸为M12的铰接螺栓,便于使用带钩的电动绞车.因此,这种结构可以提着RRXC上下移动.
图11表示的是通过一个双壳区上500 Â 700 mm2的出入口安装RRXC的顺序步骤.图中也表示出了用于同步沿径向方向输送三个RRXC的滑板,以及通过用RRXC机器人支撑重量在500 Â 700 mm2出入口处安装用的跨接板.在这些情况中,通过出入口安装系统就需要两个电动绞车和两个工人将车从一边搬到另外一边.在图12中可以看到安装整个辅助运输设备,RRXC数目方向设置和双壳区的工作方向的全部工艺过程.机器人的拆卸是反过程.需要注意的是推荐使用的输送系统也可以在其他操作中使用,例如梯子的输送.
6.工作空间分析和仿真
图13 表示的是RRX焊接机器人的动力学模型,该模型是3P3R机械手,包括一条PPPRRR串联链,这里P和R分别是棱柱形和转动关节.机械手有六个自由度和六个活动关节,每个由图6（a）中的每个箭头表示出来.用于解决图13中机械手3P3R的动力学的迪纳维特；哈坦伯格参数在表4中列出,表中ai–1,ai–1,
di,和 yi分别是关节i的连接扭转角,连接长度,关节距离和关节角度.
非专业,供参考

为了严格
连接两端纵向加劲肋形式使用钢上
线,固定hand-clamps一边上
纵向加劲肋形式和hand-winch为承受
拉伸力的钢丝在另一边就可以了。这
可以提供了一种手段,运输RRXC沿着吗
连接使用电动绞车钢丝绳,用辊
钢线的交互。此外,RRXC有眼-
螺栓M12的大小对上面的垂直臂,因为接口
电动绞盘,它有一个钩子。...

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为了严格
连接两端纵向加劲肋形式使用钢上
线,固定hand-clamps一边上
纵向加劲肋形式和hand-winch为承受
拉伸力的钢丝在另一边就可以了。这
可以提供了一种手段,运输RRXC沿着吗
连接使用电动绞车钢丝绳,用辊
钢线的交互。此外,RRXC有眼-
螺栓M12的大小对上面的垂直臂,因为接口
电动绞盘,它有一个钩子。因此,它也能够提供一个
手段的提升RRXC上上下下。
图11显示连续的过程RRXC拟合
通过500 700平方毫米进入洞double-hulled街区。
它还显示板提供了一种滑动
三RRXCs运输在纵向simulta -
neously、桥梁板提供了一种通过拟合
500 700平方毫米的孔通过支持访问RRXC的重量
机器人。在这些情况下,以适应系统通过接入洞,
两个电动绞车和两个工作者需要进行的
随行。图12显示的整个过程
安装辅助运输设备,承诺
RRXC方向的数量,和工作方向
double-hulled街区。检索的机器人来完成
执行过程相反。指出提出建议
运输系统可能导致其他有用的应用程序
操作,如运输梯子。
6。工作空间分析和仿真
图13显示一个运动学模型的RRX焊接机器人,
这是一个3 P3R机械手组成的一个PPPRRR系列链条,
在P和R表示棱镜和背卷关节,分别。
这有六个自由度机械手有六个活跃的关节,
每一种以箭头所示图。6(a)。这Denavit -
Hartenberg用来解决了运动学参数的三P3R
机械手如图13列在表4,在那里ai-1,ai-1,
迪,易建联是链接扭角,连接长度、关节的距离,
联合角度,分别就联合我。

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