机械毕设外文翻译 自动化机器人

本科毕业生毕业设计（论文）外文翻译1WallWalker:ProposalofLocomotionMechanismCleaningEvenattheCornerT.Miyake12andH.Ishihara11KagawaUniv.Japan2MIRAIKIKAIInc.,JapanAbstract.Thepurposeofthisresearchistodevelopthewindowcleaningrobotforcleaningasinglelargewindowpanesuchasashowwindow.Itrequiresthefollowingdemandstoapplythewindowcleaningrobotforthepracticaluse:1.Cleanthecornerofwindowbecausefoulingisleftthereoften.2.Sweepthewindowpanecontinuouslytopreventmakingstripedpatternsonawindowpane.Thekeysofmechanismsaretherotatabilityofthemobilepartaroundtheotherpartsandthecontinuouslocomotioninordertoachievetheabovepoints.Theformerenablestherobottochangethedirectionwithkeepingitspositionandattitudeatthecornerofwindow.Thelatterisnecessaryforpreventingleavingthestripedpatternonawindowpane.Wedesignedthecontinuousmotionusingtwo-wheellocomotionwithadheringonthewindowpaneusingasuctioncup.Thesizeofprototypeisabout300mm×300mm×100mmanditsweightisabout2kgwithoutbatteries.Astheresultsofbasicexperimentsoftheprototypeonaverticalsmoothwindowglass,travelingvelocityofgoingupdirectionwas0.08m/s,oneofgoingdowndirectionwas0.14m/sandhorizontaldirectionwas0.11m/s.Inthispaperthe1stchaptermentionsbackgroundandobjectivesofthisresearch,andalsointroducestheconceptofWallWalker.The2ndchapterdiscussestheadheringandmovingmechanism.The3rdchapterillustratesitsbasicpropertiesbasedontheexperiments.Finally,problemsandfutureworksarediscussedinthe4thchapter.本科毕业生毕业设计（论文）外文翻译21IntroductionRecently,wehavehadmanyrequestsfortheautomaticcleaningofoutsidesurfaceofbuildings.Somecustomizedwindowcleaningmachineshavealreadybeeninstalledintothepracticaluseinthefieldofbuildingmaintenance.However,almostofthemaremountedonthebuildingfromthebeginningandtheyneedsveryexpensivecosts.Therefore,requirementsforsmall,lightweightandportablewindowcleaningrobotarealsogrowinginthefieldofbuildingmaintenance.Astheresultsofsurveyingtherequirementsforthewindowcleaningrobotbythefieldresearchwiththecleaningcompanies,thefollowingpointsarenecessaryforprovidingthewindowcleaningrobotforpracticaluse:1.Itshouldbesmallsizeandlightweightforcarriedbyonepersontoeverywhere.2.Cleanthecornerofwindowbecausefoulingisleftthereoften.3.Sweepthewindowpanecontinuouslytopreventmakingstripedpatternonawindowpane.Thelocomotionmechanismmustbechosentosatisfythesedemands,especiallylatertwosubjects.Herelocomotionmechanismmeansthecombinationofadheringmechanism,travelingmechanismandamechanismforchangingatravelingdirection.Variousresearchesoflocomotionmechanismsonwallclimbingrobotshavebeenreported[1–5].Howevertheydonotadapttoabovethreepointscompletely.Forexample,climbingrobotbylegged-wallwalkingcannotrealizethecontinuousmovement,andalsoitsturn-abilityislow[6].Wefocusedontheapplicationofthewindowcleaningrobotonasinglewindowpane.Itisapparentlynecessarytocrossoverthewindowframeorjointlinetouseitatanywindow,butthesinglewindowpaneslikeasashowwindowalsoexistasanimportantapplication.Accordingtosuchconsiderations,weadoptedthetwo-wheellocomotionmechanismwithadheringbyasuctioncup.Thispapermainlydealswiththismechanismandfunctionsspecializedincleaningthecornerofwindow.Firstrequirementbroughtthefollowingspecificationsfordesigningthewindowcleaningrobot.–Weight:5kg,includingtheweightofbatteryandwashingwater,本科毕业生毕业设计（论文）外文翻译3–Size:300mm×300mm×100mm.Thesearealsodefinedbytheresultsofsurveyingthedemandsfromthecleaningcompanies.Thispaperproposesthesmall,lightandportablewindowcleaningrobotnamedWallWalker,whicharedesignedtosatisfythemarketdemandsasmentionedabove.Figure1istherenderingatasceneofpracticaluseofWallWalker.TheWallWalkerisadheringonawindowpaneandcleaningasmovingonlargewindows.Thispaperdiscussestheeffectivenessofproposedlocomotionmechanism.The2ndchapterdiscussesthelocomotionmechanismsandillustratestheprototypefortestingtheproposedlocomotionmechanism.The3rdchapterillustratesitsbasicpropertiesbasedontheexperiments.Fig.1.Small-sizewindowcleaningrobotonawindow2LocomotionMechanismVariousresearchesoflocomotionmechanismsonthewindowcleaningrobotshavebeenreported.Howevertheydonotmeetourspecificationsdefinedbasedonthemarketdemandsabove-mentioned.Forexample,climbingrobotbylegged-walkcannotrealizethecontinuousmovement,andalsoitsturn-abilityislow[6].Climbingrobotusingcrawlermechanismallowscontinuousmovement,buttherotatabilityisaslowasorlowerthantheleggedwalk[7].Windowcleaningrobotbycrawlermechanismhadbeendeveloped(Size:440×400×180mmWeight:6.5kgmaximumspeed2cm/sec)byShraft本科毕业生毕业设计（论文）外文翻译4etal.[8].Itmustbringitsowncrawlerupfromtheadheringsurfaceandrotateitinordertochangeitstravelingdirection.Thismechanismneedsstrongadheringforcetoholdthewholesystemontheverticalplanewithliftingthemobilemechanism,andalsoittakesalongtimetofinishtheprocessofchangingitsfront.BothofLegged-WalkandCrawlermechanismneedthecomplicatedstructures,andthereforeitisdifficulttolightenanddownsizeit.Accordingtosuchconsiderations,weadoptedthetwo-wheellocomotionmechanismwithadheringbysuctioncup.Figure2showsconceptualstructureofWallWalker,whichincludestwodrivingwheels,asuctioncupputinthecenterofrobot,a