第一篇：碼垛機器人外文文獻及翻譯

外文文獻：

Technology status and Development trend of Stacking crane Overview Stacking crane is a special crane as of version of the warehouse and developed to appearSpecial crane, commonly referred to as the pile of chop machine, piling machine is three-dimensional storehouse of the most important lifting transportation equipment, represents the sign of three-dimensional warehouse characteristics.Its main use is: In the top shelf of the warehouse in orbit, will be located at the mouth of the goods in goods mesh;Or the opposite, take out loans in case the goods to the mouth of roadway, the loading and unloading finish homework.20 the early 70 s, China began to research the type of machine of roadway when the three-dimensional warehouse, according to not complete count, up to now has been built more than three hundred seats.Stacking machine as a three-dimensional storehouse of the most important lifting transportation equipment, also obtained fast development.2 version of the present situation of stacking crane technology.According to the current machinery industry standard, the position of the stacking crane classification of ways.E.g.by supporting mode, use, the method of control, structure, operation such as classified track.But no matter what type of stacking machine, is general by the mobile mechanism, level of lifting mechanism, manifest Taiwan and goods fork institutions, frame and electrical equipment, and other basic parts.In the present application of three-dimensional warehouse, stacking machine is the most common in the form of the structure and operation track classification.2.1 version of the good way of spider crane structure From the structure form difference at present in the warehouse stacker has a double set on structure and single pillar structure.2.1.1 double pillar stacker.Double post the stacker frame structure by two root made on the beams, and to form a rectangle beam under the framework.Pillar form well pipe and pipe.Square tube and be lifting guide rail, pipe additional hoisting guide double pillar stacker the biggest advantage is the strength and the brush sex are quite good, and smooth operation.General for lifting height, weight and higher up large speed high level of three-dimensional storehouse stacker, many with double pillar structure, double pillar stackers lifting mechanism, widespread use of the chain transmission, by motor reducer drive sprockets rotation, through the chain traction machine parts made on or along the hoisting guide for lifting movement.Due to the chain transmission used more closed chain or balance by empty asked size limit device, transmission and decorate a complicated.But positioning precision.2.1.2 single pillar stacker.Single pillar of stacker frame structure by a root of the pillar and beam.Pillar used more larger h-beam or welding production, pillar additional guide.The weight of the lighter, consume little material, so manufacturing relatively low cost, but the rigid is a bit poor.Because parts of Taiwan and the goods on the eccentricity of the opposite effect, and walk, the braking force level from the effect, make single pillar stacker in used on have limitations.Not suitable for lifting weight and the running speed of the high level of stacking machine.Single pillar stackers hoisting structure, the widespread use of the wire rope transmission, by motor reducer drive drum rotating, through the wire rope traction machine parts made on or along the lifting rails for lifting movement.For wire rope transmission, transmission and decorate relatively easy, but positioning accuracy is a bit poor.Version 2.2 of stacking crane to track the performance Stacker level drive general installation in stacker next beam, through the electricity Machine speed reducer drive wheel rotation, make stacker level concerning the direction.This ground driving way most common use.General use two bearing wheel, and along the laying on the ground track(usually also called to rail)operation.Through the bottom two groups of level round orbit direction, the top two groups in stacker guide wheel along in orbit(usually also called day rail)operation auxiliary oriented.According to the running track form difference, there is a straight line type stacker and curve operation type stacking machine.2.2.L straight lines type stacking machine.Straight line type stacker can only be in the roadway straight orbit, unable to convert roadways.Only through the other transportation equipment of transformation, such as stacker car transport.Straight line type stacker can realize the operation, and can satisfy the loading and unloading higher frequency three-dimensional storehouse homework, most widely used.2.2.2 curve operation type stacking machine.Curve operation type stacking locomotive wheels and the beam under the vertical axis of the hinged, can be in the ring or other curve orbit, can go curve, not through the other transportation equipment can then from a roadway to transfer to another roadways.Such stacker usually also called transition stacker.Curve operation type stacker in used on have limitations, only applies to the loading and unloading frequency low three-dimensional storehouse.Because not only by the turning radius to the limit, and turning special slow speed, and can't meet the person library of frequency and high warehouse operation.3.The position of the roadway stacking crane development trend.Along with the development of modern industrial production, stacking crane technology of version continuously improved and perfected.The world's major industrial countries starting point on the development of new products and reliable performance and high on the operation on pay more attention to the practicality and safety.In stacker, we shall see and world advanced nation gap, summarizing the experience find out the deficiency, break traditional ideas, has introduced new appearance and higher performance stacker.In make stacking machine has higher precision at the same time, increase speed to get shorter operation cycle and more production ability.Believe that, through our continuous efforts more high speed, safe and reliable heap when the machine will continue to digest imported from abroad domestic, make the position of stacking crane development roadway to an update to the stage.中文翻譯：

有軌巷道堆垛機技術現狀及發展趨勢 概述

有軌巷道堆垛起重機是隨著立體倉庫的出現而發展起來的 專用起重機，通常簡稱為堆剁機，堆垛機是立體倉庫中最重要的起重運輸設備，是代表立體倉庫特征的標志。其主要用途是：

在高層貨架倉庫的巷道內沿軌道運行，將位于巷道口的貨物存入貨格；或者相反，取出貸格內的貨物運送到巷道口，完成出入庫作業。2O世紀70年代初期，我國開始研究采用巷道式堆 垛機的立體倉庫，據不完全統計，到目前已建成三百余座。

堆垛機做為立體倉庫中最重要的起重運輸設備，也得到了較快的發展。2 有軌巷道堆垛起重機的技術現狀

按現行機械行業標準，有軌巷道堆垛起重機分類方式多種 多樣。如按支承方式、用途，控制方式、結構、運行軌跡等分類。但無論何種類型的堆垛機，一般都由水平行走機構、起升機構、載貨臺及貨叉機構、機架和電氣設備等基本部分組成。

在目前立體倉庫應用中，堆垛機最常見的是按結構形式和運行軌跡分類。2．1 有軌巷道堆垛起重機的結構形式

從結構形式上區別 目前立體倉庫中堆垛機有雙立拄結構 和單立柱結構。2．1．1雙立柱堆垛機

雙立柱結構的堆垛機機架由兩根立往和上橫粱、下橫梁組成一個長方形框架。立柱形式有方管和圓管。方管兼作起升導軌，圓管附加起升導軌 雙立柱堆垛機的最大優點就是強度和 刷性都比較好，并且運行平穩。一般對于起升高度較高、起重量較大和水平運行速度高的立體倉庫堆垛機、多采用雙立柱結構，雙立柱堆垛機的起升機構、普遍采用鏈條傳動，由電機減速機驅動鏈輪轉動，通過鏈條牽引載貨臺沿立拄或

起升導軌作升降運動。由于鏈條傳動多采用封閉鏈或配重裝置受空問尺寸限制，傳動和布置較復雜，但定位精準。

2．1．2 單立柱堆垛機

單立柱結構的堆垛機機架由一根立柱和下橫梁組成。立柱多采用較大的H型鋼或焊接制作，立柱上附加導軌。整機重量較輕，消耗材料少，因此制造成本相對較低，但剛性稍差。由于載貨臺及貨物對立拄的偏心作用，以及行走、制動時產生的水平慣性力作用，使單立柱堆垛機在使用上有局限性。不適于起重量大和水平運行速度高的堆垛機。單立柱堆垛機的起升結構，普遍采用鋼絲繩傳動，由電機減速機驅動卷筒轉動，通過鋼絲繩牽引載貨臺沿立拄或起升鋼軌作升降運動。對于鋼絲繩傳動，傳動和布置相對容易，但定位準確性稍差。

2．2 有軌巷道堆垛起重機的運行軌跡

堆垛機水平驅動裝置一般安裝在堆垛機下橫梁上，通過電 機減速機驅動車輪轉動，使堆垛機措水平方向運行。此種地面驅動方式使用最為普遍。一般用兩個承重車輪，沿敷設在地面 上的軌道(通常亦叫地軌)運行。通過下部兩組水平輪沿軌道運行導向，在堆垛機頂部兩組導向輪沿上軌道(通常亦叫天軌)運行輔助導向。按其運行軌跡形式區別，有直線運行型堆垛機和曲線運行型堆垛機。

2．2．l 直線運行型堆垛機

直線運行型堆垛機只能在巷道內直線軌道上運行，不能自行轉換巷道。只能通過其他輸送設備轉換巷道，如堆垛機轉運車。直線運行型堆垛機可以實現高速運行，能夠滿足出入庫頻率較高的立體倉庫作業，應用最為廣泛。

2．2．2 曲線運行型堆垛機

曲線運行型堆垛機車輪與下橫梁是通過垂直軸鉸接的，能夠在環形或其他曲線軌道上運行，即可走曲線，不通過其他

輸送設備便可以從一個巷道自行轉移到另一個巷道。此種堆垛機通常亦叫做轉軌堆垛機。曲線運行型堆垛機在使用上有局限性，只適用于出入庫頻率較低的立體倉庫。因為不但場地要受到轉彎半徑的限制，而且轉彎時速度特別慢，不能滿足出人庫頻率高的立體倉庫作業。

3．有軌巷道堆垛起重機的發展趨勢

隨著現代工業生產的發展，有軌巷道堆垛起重機技術也在不斷提高和完善。世界主要工業國家都把著眼點放在開發性能可靠的新產品和采用高新拄術上 更加注重實用性和安全性。

在堆垛機方面，我們應當看到和世界先進國家的差距，總結經驗找出不足，打破傳統思路，推出具有新的外形和更高性能的堆垛機。在使堆垛機具有更高定位精度的同時，提高運行速度，以獲得更短的操作周期和更大的生產能力。

相信，通過我們的不斷努力 更加高速、安全、可靠的堆 垛機將不斷從國外引進消化到國內，使有軌巷道堆垛起重機發展到一個更新的階段。

第二篇：機器人外文翻譯(文獻翻譯_中英文翻譯)

外文翻譯

外文資料：

Robots First, I explain the background robots, robot technology development.It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology.It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development.But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave.So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need.Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories.is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide.Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation.So far, the industrial robot is the most mature and widely used category of a robot, now the world's total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small.Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly.Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot.It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement.So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom.We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom.Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc.These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference.It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, etc.It’s surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robot’s one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming.The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up.This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas.If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited.Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside.a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate.This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass surgery.This robot has in the area, caused a great sensation, but also, AESOP's surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery Robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctor's movements linked, the doctor hands off, lighting went off, This is very good, a doctor's assistant.Robot is mankind's right-hand man;friendly coexistence can be a reliable friend.In future, we will see and there will be a robot space inside, as a mutual aide and friend.Robots will create the jobs issue.We believe that there would not be a “robot appointment of workers being laid off” situation, because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, to create a better spiritual wealth and cultural wealth.譯文資料：

機器人

首先我介紹一下機器人產生的背景，機器人技術的發展，它應該說是一個科學技術發展共同的一個綜合性的結果，同時，為社會經濟發展產生了一個重大影響的一門科學技術，它的發展歸功于在第二次世界大戰中各國加強了經濟的投入，就加強了本國的經濟的發展。另一方面它也是生產力發展的需求的必然結果，也是人類自身發展的必然結果，那么隨著人類的發展，人們在不斷探討自然過程中，在認識和改造自然過程中，需要能夠解放人的一種奴隸。那么這種奴隸就是代替人們去能夠從事復雜和繁重的體力勞動，實現人們對不可達世界的認識和改造，這也是人們在科技發展過程中的一個客觀需要。

機器人有三個發展階段，那么也就是說，我們習慣于把機器人分成三類，一種是第一代機器人，那么也叫示教再現型機器人，它是通過一個計算機，來控制一個多自由度的一個機械，通過示教存儲程序和信息，工作時把信息讀取出來，然后發出指令，這樣的話機器人可以重復的根據人當時示教的結果，再現出這種動作，比方說汽車的點焊機器人，它只要把這個點焊的過程示教完以后，它總是重復這樣一種工作，它對于外界的環境沒有感知，這個力操作力的大小，這個工件存在不存在，焊的好與壞，它并不知道，那么實際上這種從第一代機器人，也就存在它這種缺陷，因此，在20世紀70年代后期，人們開始研究第二代機器人，叫帶感覺的機器人，這種帶感覺的機器人是類似人在某種功能的感覺，比如說力覺、觸覺、滑覺、視覺、聽覺和人進行相類比，有了各種各樣的感覺，比方說在機器人抓一個物體的時候，它實際上力的大小能感覺出來，它能夠通過視覺，能夠去感受和識別它的形狀、大小、顏色。抓一個雞蛋，它能通過一個觸覺，知道它的力的大小和滑動的情況。第三代機器人，也是我們機器人學中一個理想的所追求的最高級的階段，叫智能機器人，那么只要告訴它做什么，不用告訴它怎么去做，它就能完成運動，感知思維和人機通訊的這種功能和機能，那么這個目前的發展還是相對的只是在局部有這種智能的概念和含義，但真正完整意義的這種智能機器人實際上并沒有存在，而只是隨著我們不斷的科學技術的發展，智能的概念越來越豐富，它內涵越來越寬。

下邊我簡單介紹一下工業機器人的一些情況。到目前為止，工業機器人是最成熟，應用最廣泛的一類機器人，世界總量目前已經銷售110萬臺，這是1999年的統計，但這110萬臺在已經進行裝備使用的是75萬臺，這個量也是不小的。總體情況看，日本在工業機器人這一塊，是首位的，成為機器人的王國，美國發展也很迅速，目前在新安裝的臺數方面，已經超過了日本，中國剛開始進入產業化的階段，已經研制出多種工業機器人樣機，已有小批量在生產中使用。

點焊機器人主要是針對汽車生產線，提高生產效率，提高汽車焊接的質量，降低工人的勞動強度的一種機器人。它的特點是通過機器人對兩個鋼板進行點焊的時候，需要承載一個很大的焊鉗，一般在幾十公斤以上，那么它的速度要求在每秒鐘一米五到兩米這樣的高速運動，所以它一般來說有五到六個自由度，負載三十到一百二十公斤，工作的空間很大，大概有兩米，這樣一個球形的工作空間，運動速度也很高，那么自由度的概念，就是說，是相對獨立運動的部件的個數，就相當于我們人體，腰是一個回轉的自由度，我們大臂可以抬起來，小臂可以彎曲，那么這就三個自由度，同時腕部還有一個調整姿態來使用的三個自由度，所以一般的機器人有六個自由度，就能把空間的三個位置，三個姿態，機器人完全實現，當然也有小于六個自由度的，也有多于六個自由度的機器人，只是在不同的需要場合來配置。

第二類是服務機器人，隨著工業化的發展，尤其近十年以來，機器人的發展的應用領域在不斷拓寬，目前一個很重要的特征，大家都知道，機器人已經從制造業逐漸轉向了非制造業和服務行業，剛才談的汽車制造屬于是制造業，但服務行業包括清潔、加油、救護、搶險、救災這些等等，都屬于非制造行業和服務行業，那么這里邊跟工業機器人相比，它有一個很重要的不同，它主要是一個移動平臺，它能夠移動、去運動，上面有一些手臂進行操作，同時還裝有一些像力覺傳感器和視覺傳感器、超聲測距傳感器等等。它對周邊的環境進行識別，來判斷它的運動，完成某種工作，這是服務機器人的基本的一個特點。

例如，家務機器人主要體現在像一些對地毯和地板定期的它能夠進行清掃和吸塵，它這個機器人很有意思，它有傳感器，它能夠把家具和人能識別出來，它自動的按照一種規律，能根據路徑把地面全部的清掃干凈，這也是家務中一些機器人的表現。

那么醫療機器人，是近五年來發展比較迅速的一個新的應用領域。如果人手術的時候，醫生來手術，一個是疲勞，另一個人手操作的精度還是有限的。在德國一些大學里面，面向人的脊椎，如腰間盤突出這種病，進行識別以后，能夠自動地用機器人來輔助進行定位，進行操作和手術。像美國已經有一千多例機器人對人眼球進行手術，這樣的機器人，還包括通過遙控操作的辦法，實現對人的胃腸這種手術，大家在電視里邊看到，一個機械手，大概有手指這樣粗細的一個機械手，通過插入腹臟以后，人在屏幕上操作這個機器手，同時對它用激光的方法對病灶進行激光的治療，這樣的話，人就不用很大幅度地破壞人的身體，這實際對人的一種解放，是非常好一種機器人，醫療機器人它也很復雜，一方面它完全自動去完成各種工作，是有困難的，一般來說都是人來參與，這是美國開發的一個林白手術這樣一個例子，人通過在屏幕上，通過一個遙控操作手來控制另一個機械手，實現通過對人的腹腔進行手術，前幾年我們國家展覽會上，美國已經成功的實現了對人的心臟瓣膜的手術和搭橋手術，這已經在機器人領域中，引起了很大的轟動，還包括，AESOP的這種外科手術機器人，它實際上通過一些儀器能夠對人的一些病變進行檢查，通過一個機械手就能夠實現對人的某些部位進行手術，還包括遙操作機械手，以及多個醫生可以在機器人共同參與下進行手術，包括機器人給大夫醫生拿鉗子、鑷子或刀子來代替護士的工作，同時把照明能夠自動的給醫生的動作聯系起來，醫生的手到哪兒，照明就去哪兒，這樣非常好的，一個醫生的助手。

機器人是人類的得力助手，能友好相處的可靠朋友，將來我們會看到人和機器人會存在一個空間里邊，成為一個互相的助手和朋友。機器人會不會產生飯碗的問題。我們相信不會出現“機器人上崗，工人下崗”的局面，因為人們隨著社會的發展，實際上把人們從繁重的體力和危險的環境中解放出來，使人們有更好的崗位去工作，去創造更好的精神財富和文化財富。

第三篇：機器人外文翻譯

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機 器 人

工業機器人是在生產環境中以提高生產效率的工具，它能做常規乏味的裝配線工作，或能做那些對于工人來說是危險的工作，例如，第一代工業機器人是用來在 核電站中更換核燃料棒，如果人去做這項工作，將會遭受有害的放射線的輻射。工業機器人亦能工作在裝配線上將小元件裝配到一起，如將電子元件安放在電路印制板，這樣，工人就能從這項乏味的常規工作中解放出來。機器人也能按程序要求用來拆除炸彈，輔助殘疾人，在社會的很多應用場合下履行職能。

機器人可以認為是將手臂末端的工具、傳感器和（或）手爪移到程序指定位置的一種機器。當機器人到達位置后，它將執行某種任務。這些任務可以是焊接、密封、機器裝料、拆卸以及裝配工作。除了編程以及系統的開停之外，一般來說這些工作可以在無人干預下完成。如下敘述的是機器人系統基本術語：

1.機器人是一個可編程、多功能的機械手，通過給要完成的不同任務編制各種動作，它可以移動零件、材料、工具以及特殊裝置。這個基本定義引導出后續段落的其他定義，從而描繪出一個完整的機器人系統。

2.預編程位置點是機器人為完成工作而必須跟蹤的軌跡。在某些位

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置點上機器人將停下來做某些操作，如裝配零件、噴涂油漆或焊接。這些預編程點貯存在機器人的貯存器中，并為后續的連續操作所調用，而且這些預編程點想其他程序數據一樣，可在日后隨工作需要而變化。因而，正是這種編程的特征，一個工業機器 人很像一臺計算機，數據可在這里儲存、后續調用與編譯。

3.機器手是機器人的手臂，它使機器人能彎曲、延伸和旋轉，提供這些運動的是機器手的軸，亦是所謂的機器人的自由度。一個機器人能有3~16軸，自由度一詞總是與機器人軸數相關。

4.工具和手爪不是機器人自身組成部分，但它們是安裝在機器人手臂末端的附件。這些連在機器人手臂末端的附件可使機器人抬起工件、點焊、刷漆、電弧焊、鉆孔、打毛刺以及根據機器人的要求去做各種各樣的工作。

5.機器人系統還可以控制機器人的工作單元，工作單元是機器人執行任務所處的整體環境，該單元包括控制器、機械手、工作平臺、安全保護裝置或者傳輸裝置。所有這些為保證機器人完成自己任務而必須的裝置都包括在這一工作單元中。另外，來自外設的信號與機器人通訊，通知機器人何時裝配工件、取工件或放工件到傳輸裝置上。機器人系統有三個基本部件：機械手、控制器和動力源。

A.機械手

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機械手做機器人系統中粗重工作，它包括兩個部分：機構與附件，機械手也用聯接附件基座，圖21-1表示了一機器人基座與附件之間的聯接情況。

機械手基座通常固定在工作區域的地基上，有時基座也可以移動，在這種情況下基座安裝在導軌回軌道上，允許機械手從一個位置移到另外一個位置。

正如前面所提到的那樣，附件從機器人基座上延伸出來，附件就是機器人的手臂，它可以是直動型，也可以是軸節型手臂，軸節型手臂也是大家所知的關節型手臂。

機械臂使機械手產生各軸的運動。這些軸連在一個安裝基座上，然后再連到拖架上，拖架確保機械手停留在某一位置。

在手臂的末端上，連接著手腕（圖21-1），手腕由輔助軸和手腕凸緣組成，手腕是讓機器人用戶在手腕凸緣上安裝不同的工具來做不同的工作。

機械手的軸使機械手在某一區域內執行任務，我們將這個區域為機器人的工作單元，該區域的大小與機械手的尺寸相對應，圖21-2列舉了一個典型裝配機器人的工作單元。隨著機器人機械結構尺寸的增加，工作單元的范圍也必須相應的增加。

機械手的運動有執行元件或驅動系統來控制。執行元件或驅動系統

沈陽航空工業學院學士學位論文

允許各軸力經機構轉變為機械能，驅動系統與機械傳動鏈相匹配。由鏈、齒輪和滾珠絲杠組成的機械傳動鏈驅動著機器人的各軸。

B.控制器

機器人控制器是工作單元的核心。控制器儲存著預編程序供后續調用、控制外設，及與廠內計算機進行通訊以滿足產品更新的需要。

控制器用于控制機械手運動和在工作單元內控制機器人外設。用戶可通過手持的示教盒將機械手運動的程序編入控制器。這些信息儲存在控制器的儲存器中以備后續調用，控制器儲存了機器人系統的所有編程數據，它能儲存幾個不同的程序，并且所有這些程序均能編輯。

控制器要求能夠在工作單元內與外設進行通信。例如控制器有一個輸入端，它能標識某個機加工操作何時完成。當該加工循環完成后，輸入端接通，告訴控制器定位機械手以便能抓取已加工工件，隨后，機械手抓取一未加工件，將其放置在機床上。接著，控制器給機床發出開始加工的信號。

控制器可以由根據事件順序而步進的機械式輪鼓組成，這種類型的控制器可用在非常簡單的機械系統中。用于大多數機器人系統中的控制器代表現代電子學的水平，是更復雜的裝置，即它們是由微處理器操縱的。這些微處理器可以是8位、16位或32位處理器。它們可以使得控制器在操作過程中顯得非常柔性。

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控制器能通過通信線發送電信號，使它能與機械手各軸交流信息，在機器人的機械手和控制器之間的雙向交流信息可以保持系統操作和位置經常更新，控制器亦能控制安裝在機器人手腕上的任何工具。

控制器也有與廠內各計算機進行通信的任務，這種通信聯系使機器人成為計算機輔助制造（CAM）系統的一個組成部分。

存儲器。給予微處理器的系統運行時要與固態的存儲裝置相連，這些存儲裝置可以是磁泡，隨機存儲器、軟盤、磁帶等。每種記憶存儲裝置均能貯存、編輯信息以備后續調用和編輯。

C.動力源

動力源是給機器人和機械手提供動力的單元。傳給機器人系統的動力源有兩種，一種是用于控制器的交流電，另一種是用于驅動機械手各軸的動力源，例如，如果機器人的機械手是有液壓和氣壓驅動的，控制信號便傳送到這些裝置中，驅動機器人運動。

沈陽航空工業學院學士學位論文

液壓與氣壓系統

僅有以下三種基本方法傳遞動力：電氣，機械和流體。大多數應用系統實際上是將三種方法組合起來而得到最有效的最全面的系統。為了合理地確定采取哪種方法。重要的是了解各種方法的顯著特征。例如液壓系統在長距離上比機械系統更能經濟地傳遞動力。然而液壓系統與電氣系統相比，傳遞動力的距離較短。

液壓動力傳遞系統涉及電動機，調節裝置和壓力和流量控制，總的來說，該系統包括：

泵：將原動機的能量轉換成作用在執行部件上的液壓能。閥：控制泵產生流體的運動方向、產生的功率的大小，以及到達執行部件流體的流量。功率大小取決于對流量和壓力大小的控制。

執行部件：將液壓能轉成可用的機械能。

介質即油液：可進行無壓縮傳遞和控制，同時可以潤滑部件，使閥體密封和系統冷卻。

聯接件：聯接各個系統部件，為壓力流體提供功率傳輸通路，將液體返回油箱（貯油器）。

油液貯存和調節裝置：用來確保提供足夠質量和數量并冷卻的液體。

沈陽航空工業學院學士學位論文

液壓系統在工業中應用廣泛。例如沖壓`鋼類工件的磨削幾一般加工業、農業、礦業、航天技術、深?？碧?、運輸、海洋技術，近海天然氣和石油勘探等行業，簡而言之，在日常生活中有人不從液壓技術中得到某種益處。

液壓系統成功而又廣泛使用的秘密在于它的通用性和易操作性。液壓動力傳遞不會象機械系統那樣受到機器幾何形狀的制約，另外，液壓系統不會像電氣系統那樣受到材料物理性能的制約，它對傳遞功率幾乎沒有量的限制。例如，一個電磁體的性能受到鋼的磁飽和極限的限制，相反，液壓系統的功率僅僅受材料強度的限制。

企業為了提高生產率將越來越依靠自動化，這包括遠程和直接控制生產操作、加工過程和材料處理等。液壓動力之所以成為自動化的組成部分，是因為它有如下主要的特點：

1.控制方便精確

通過一個簡單的操作桿和按扭，液壓系統的操作者便能立即起動，停止、加減速和能提供任意功率、位置精度為萬分之一英寸的位置控制力。圖13-1是一個使飛機駕駛員升起和落下起落架的液壓系統，當飛行向某方向移動控制閥，壓力油流入液壓缸的某一腔從而降下起落架。飛行員向反方向移動控制閥，允許油液進入液壓缸的另一腔，便收回起落架。

2.增力 一個液壓系統（沒有使用笨重的齒輪、滑輪和杠桿）能簡單

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有效地將不到一盎司的力放大產生幾百噸的輸出。

3.恒力或恒扭矩

只有液壓系統能提供不隨速度變化而變化的恒力或恒扭矩，他可以驅動對象從每小時移動幾英寸到每分鐘幾百英寸，從每小時幾轉到每分鐘幾千轉。

4.簡便、安全、經濟

總的來說，液壓系統比機械或電氣系統使用更少的運動部件，因此，它們運行與維護簡便。這使得系統結構緊湊，安全可靠。例如 一種用于車輛上的新型動力轉向控制裝置一淘汰其他類型的轉向動力裝置，該轉向部件中包含有人力操縱方向控制閥和分配器。因為轉向部件是全液壓的，沒有方向節、軸承、減速齒輪等機械連接，使得系統簡單緊湊。

另外，只需要輸入很小的扭矩就能產生滿足極其惡劣的工作條件所需的控制力，這對于因操作空間限制而需要小方向盤的場合很重要，這也是減輕司機疲勞度所必須的。

液壓系統的其他優點包括雙向運動、過載保護和無級變速控制，在已有的任何動力、系統中液壓系統也具有最大的單位質量功率比。

盡管液壓系統具有如此的高性能，但它不是可以解決所有動力傳遞問題的靈丹妙藥。液壓系統也有缺點，液壓油有污染，并且泄露不可能完全避免，另外如果油液滲漏發生在灼熱設備附近，大多數液壓油能引起火災。

沈陽航空工業學院學士學位論文

氣壓系統

氣壓系統是用壓力氣體傳遞和控制動力，正如名稱所表明的那樣，氣壓系統通常用空氣（不用其他氣體）作為流體介質，因為空氣是安全、成本低而又隨處可得的流體，在系統部件中產生電弧有可能點燃泄露物的場合下（使用空氣作為介質）尤其安全。

在氣壓系統中，壓縮機用來壓縮并提供所需的空氣。壓縮機一般有活塞式、葉片式和螺旋式等類型。壓縮機基本上是根據理想氣體法則，通過減小氣體體積來增加氣體壓力的。氣壓系統通?？紤]采用大的中央空氣壓縮機作為一個無限量的氣源，這類似于電力系統中只要將插頭插入插座邊可獲得電能。用這種方法，壓力氣體可以總氣體源輸送到整個工廠的各個角落，壓力氣體可通過空氣濾清器除去污物，這些污染可能會損壞氣動組件的精密配合部件如閥和汽缸等，隨后輸送到各個回路中，接著空氣流經減壓閥以減小氣壓值適合某一回路使用。因為空氣不是好的潤滑油，氣壓系統需要一個油霧器將細小的油霧注射到經過減壓閥減壓空氣中，這有幫助于減少氣動組件精密配合運動件的磨損。

由于來自大氣中的空氣含不同數量的水分，這些水分是有害的，它可以帶走潤滑劑引起的過分磨損和腐蝕，因此，在一些使用場合中，要用空氣干燥器來除去這些有還的水分。由于氣壓系統直接向大氣排

沈陽航空工業學院學士學位論文

氣，會產生過大的噪聲，因此可在氣閥和執行組件排氣口安裝銷聲器來降低噪聲，以防止操作人員因接觸噪聲及高速空氣粒子有可能引發的傷害。

用氣動系統代替液壓系統有以下幾條理由：液體的慣性遠比氣體大，因此，在液壓系統中，當執行組件加速減速和閥突然開啟關閉時，油液的質量更是一個潛在的問題，根據牛頓運動定律，產生加速度運動油液所需的力要比加速同等體積空氣所需的力高出許多倍。液體比氣體具有更大的粘性，這會因為內摩擦而引起更大的壓力和功率損失；另外，由于液壓系統使用的液體要與大氣隔絕，故它們需要特殊的油箱和無泄露系統設計。氣壓系統使用可以直接排到周圍環境中的空氣，一般來說氣壓系統沒有液體系統昂貴。

然而，由于空氣的可壓縮性，使得氣壓系統執行組件不可能得到精確的速度控制和位置控制。氣壓系統由于壓縮機局限，其系統壓力相當低（低于250psi），而液壓力可達1000psi之高，因此液壓系統可以是大功率系統，而氣動系統僅用于小功率系統，典型例子有沖壓、鉆孔、夾緊、組裝、鉚接、材料處理和邏輯控制操作等。

第四篇：智能機器人外文翻譯

Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on.With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being.The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use.To development economic practicality and high reliability robot system will be value to robot social application and economy development.With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal.Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal.The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity.Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding.With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware.In this article, the mechanical configuration combines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system.The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement.In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion.Worm gear can give vary transmission ratio.Both of the transmission mechanisms have a characteristic of compact structure.The design of drive system often is limited by the environment condition and the factor of cost and technical lever.'The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system.In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality.on this basis, the analysis of stepping motor in power calculating and style selecting is also given.The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Kinematics analysis is the basis of path programming and track control.The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed.The relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method.The geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system.The f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time control.in this chamfer, Newton-Euripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting.Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle.With the demand of the PCL-839 card, the PC computer which has a.tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on.A t the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL-839 are analyzed.Hardware is the matter foundation of the control.System and the software is the spirit of the control system.The target of the software is to combine all the parts in optimizing style and to improve the efficiency and reliability of the control system.The software design of the object holding manipulator control system is divided into several blocks such as 2 system initialization block, data process block and error station detect and dispose model and so on.PCL-839 card can solve the communication between the main computer and the control cells and take the measure of reducing the influence of the outer signal to the control system.The start and stop frequency of the step motor is far lower than the maximum running frequency.In order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration.The increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive with a rational method.This can be implemented either by hardware or by software.A step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward.The motor' s acceleration can fit the torque-frequency curve properly with this method.And the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change speed.The method is tested by experiment.At last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed.The development and application of robot in the future is expected.機器人

機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅動、傳感器與信息處理以及人工智能等多學科的最新研究成果，隨著經濟的發展和各行各業對自動化程度要求的提高，機器人技術得到了迅速發展，出現了各種各樣的機器人產品。機器人產品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業自動化的進程。目前，由于機器人的研制和開發涉及多方面的技術，系統結構復雜，開發和研制的成本普遍較高，在某種程度上限制了該項技術的廣泛應用，因此，研制經濟型、實用化、高可靠性機器人系統具有廣泛的社會現實意義和經濟價值。

由于我國經濟建設和城市化的快速發展，城市污水排放量增長很快，污水處理己經擺在了人們的議事日程上來。隨著科學技術的發展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學家和研究人員發現塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產的自動化和高效率要求成為經濟發展的必然。

本文結合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現的問題，綜述近幾年機器人技術研究和發展的狀況，在充分發揮機、電、軟、硬件各自特點和優勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統、驅動裝置和控制系統進行了分析和設計，提出了一套經濟型設計方案。采用直角坐標和關節坐標相結合的框架式機械結構形式，這種方式能夠提高系統的穩定性和操作靈活性。傳動裝置的作用是將驅動元件的動力傳遞給機器人機械手相應的執行機構，以實現各種必要的運動，傳動方式上采用結構緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉運動轉換為直線運動的螺旋傳動。機械手驅動系統的設計往往受到作業環境條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術水平。由于步進電機能夠直接接收數字量，響應速度快而且工作可靠并無累積誤差，常用作數字控制系統驅動機構的動力元件，因此，在驅動裝置中采用由步進電機構成的開環控制方式，這種方式既能滿足控制精度的要求，又能達到經濟性、實用化目的，在此基礎上，對步進電機的功率計一算及選型問題經行了分析。

在完成機械結構和驅動系統設計的基礎上，對物料抓取機械手運動學和動力學進行了分析。運動學分析是路徑規劃和軌跡控制的基礎，對操作臂進行了運動學正、逆問題的分析可以完成操作空間位置和速度向驅動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態隨關節夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統設計提供了理論依據。機器人動力學是研究物體的運動和作用力之間的關系的科學，研究的目的是為了4 滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學進行了分析，計算出了關節力和關節力矩，為步進電機的選型和動力學分析與結構優化提供理論依據。

控制部分是整個物料抓取機械手系統設計關鍵和核心，它在結構和功能上的劃分和實現直接關系到機器人系統的可靠性、實用性，也影響和制約機械手系統的研制成本和開發周期。在控制主機的選用上，采用結構緊湊、擴展功能強和可靠性高的PC工業控制計算機作為主機，配以PCL-839卡主要承擔系統功能初始化、數據運算與處理、步進電機驅動以及故障診斷等功能;同時對PCL-839卡的結構特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統以及極限位置功能賴以存在的物質基礎，軟件則是計算機控制系統的神經中樞，軟件設計的目的是以最優的方式將各部分功能有機的結合起來，使系統具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設計上，采用的是模塊化結構，分為系統初始化模塊、數據處理模塊和故障狀態檢測與處理等幾部分。主控計算機和各控制單元之間全部由PCL-839卡聯系，并且由該卡實現抗干擾等問題，減少外部信號對系統的影響。

步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結為以某種合理的力一式控制發送到步進電機驅動器的脈沖頻率，這可由硬件實現，也可由軟件方法來實現。本文提出了一種算法簡單、易于實現、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案。該方法能使步進電機加速度與其力矩——頻率曲線較好地擬合，從而提高變速效率。而且它的計算量比線性加速度變速和基于指數規律加速度的變速控制小得多。通過實驗證明了該方法的有效性。

最后，對論文主要研究內容和取得的技術成果進行了總結，提出了存在的問題和不足，同時對機器人技術的發展和應用進行了展望。

第五篇：機器人算法外文翻譯

Improved Genetic Algorithm and Its Performance Analysis

Abstract: Although genetic algorithm has become very famous with its global searching, parallel computing, better robustness, and not needing differential information during evolution.However, it also has some demerits, such as slow convergence speed.In this paper, based on several general theorems, an improved genetic algorithm using variant chromosome length and probability of crossover and mutation is proposed, and its main idea is as follows : at the beginning of evolution, our solution with shorter length chromosome and higher probability of crossover and mutation;and at the vicinity of global optimum, with longer length chromosome and lower probability of crossover and mutation.Finally, testing with some critical functions shows that our solution can improve the convergence speed of genetic algorithm significantly , its comprehensive performance is better than that of the genetic algorithm which only reserves the best individual.Genetic algorithm is an adaptive searching technique based on a selection and reproduction mechanism found in the natural evolution process, and it was pioneered by Holland in the 1970s.It has become very famous with its global searching, parallel computing, better robustness, and not needing differential information during evolution.However, it also has some demerits, such as poor local searching, premature converging, as well as slow convergence speed.In recent years, these problems have been studied.In this paper, an improved genetic algorithm with variant chromosome length and variant probability is proposed.Testing with some critical functions shows that it can improve the convergence speed significantly, and its comprehensive performance is better than that of the genetic algorithm which only reserves the best individual.In section 1, our new approach is proposed.Through optimization examples, in section 2, the efficiency of our algorithm is compared with the genetic algorithm which only reserves the best individual.And section 3 gives out the conclusions.Finally, some proofs of relative theorems are collected and presented in appendix.Description of the algorithm 1.1 Some theorems Before proposing our approach, we give out some general theorems(see

appendix)as follows: Let us assume there is just one variable(multivariable can be divided into many sections, one section for one variable)x ∈ [ a, b ] , x ∈ R, and chromosome length with binary encoding is 1.Theorem 1

Minimal resolution of chromosome is s = b?a 2l?1Theorem 2

Weight value of the ith bit of chromosome is

wi = b?ai?1(i = 1,2,…l)2l?1Theorem 3

Mathematical expectation Ec(x)of chromosome searching step with one-point crossover is Ec(x)= b?aPc 2lwhere Pc is the probability of crossover.Theorem 4

Mathematical expectation Em(x)of chromosome searching step with bit mutation is Em(x)=(b-a)Pm

1.2 Mechanism of algorithm

During evolutionary process, we presume that value domains of variable are fixed, and the probability of crossover is a constant, so from Theorem 1 and 3, we know that the longer chromosome length is, the smaller searching step of chromosome, and the higher resolution;and vice versa.Meanwhile, crossover probability is in direct proportion to searching step.From Theorem 4, changing the length of chromosome does not affect searching step of mutation, while mutation probability is also in direct proportion to searching step.At the beginning of evolution, shorter length chromosome(can be too shorter, otherwise it is harmful to population diversity)and higher probability of crossover and mutation increases searching step, which can carry out greater domain searching, and avoid falling into local optimum.While at the vicinity of global optimum, longer length chromosome and lower probability of crossover and mutation will decrease searching step, and longer length chromosome also improves resolution of mutation, which avoid wandering near the global optimum, and speeds up algorithm

converging.Finally, it should be pointed out that chromosome length changing keeps individual fitness unchanged, hence it does not affect select ion(with roulette wheel selection).1.3 Description of the algorithm

Owing to basic genetic algorithm not converging on the global optimum, while the genetic algorithm which reserves the best individual at current generation can, our approach adopts this policy.During evolutionary process, we track cumulative average of individual average fitness up to current generation.It is written as 1X(t)= GG?ft?1avg(t)where G is the current evolutionary generation, fitness.favg is individual average When the cumulative average fitness increases to k times(k> 1, k ∈ R)of initial individual average fitness, we change chromosome length to m times(m is a positive integer)of itself , and reduce probability of crossover and mutation, which can improve individual resolution and reduce searching step, and speed up algorithm converging.The procedure is as follows:

Step 1 Initialize population, and calculate individual average fitness and set change parameter flag.Flag equal to 1.favg0, Step 2 Based on reserving the best individual of current generation, carry out selection, regeneration, crossover and mutation, and calculate cumulative average of individual average fitness up to current generation

favg;

favgStep 3 If

favg0≥k and Flag equals 1, increase chromosome length to m times of itself, and reduce probability of crossover and mutation, and set Flag equal to 0;otherwise continue evolving.Step 4 If end condition is satisfied, stop;otherwise go to Step 2.2 Test and analysis

We adopt the following two critical functions to test our approach, and compare it with the genetic algorithm which only reserves the best individual: f1(x,y)?0.5?sin2x2?y2?0.5[1?0.01x?y?222?]

x,y∈ [?5,5]

[?1,1] f2(x,y)?4?(x2?2y2?0.3cos(3πx)?0.4cos(4πy))

x,y∈2.1 Analysis of convergence During function testing, we carry out the following policies: roulette wheel select ion, one point crossover, bit mutation, and the size of population is 60, l is chromosome length, Pc and Pm are the probability of crossover and mutation respectively.And we randomly select four genetic algorithms reserving best individual with various fixed chromosome length and probability of crossover and mutation to compare with our approach.Tab.1 gives the average converging generation in 100 tests.In our approach, we adopt initial parameter l0= 10, Pc0= 0.3, Pm0= 0.1 and k= 1.2, when changing parameter condition is satisfied, we adjust parameters to l= 30, Pc= 0.1, Pm= 0.01.From Tab.1, we know that our approach improves convergence speed of genetic algorithm significantly and it accords with above analysis.2.2 Analysis of online and offline performance

Quantitative evaluation methods of genetic algorithm are proposed by Dejong, including online and offline performance.The former tests dynamic performance;and the latter evaluates convergence performance.To better analyze online and offline performance of testing function, w e multiply fitness of each individual by 10, and we give a curve of 4 000 and 1 000 generations for f1 and f2, respectively.(a)online

(b)online

Fig.1 Online and offline performance of f1

(a)online

(b)online

Fig.2 Online and offline performance of f2

From Fig.1 and Fig.2, we know that online performance of our approach is just little worse than that of the fourth case, but it is much better than that of the second, third and fifth case, whose online performances are nearly the same.At the same time, offline performance of our approach is better than that of other four cases.Conclusion In this paper, based on some general theorems, an improved genetic algorithm using variant chromosome length and probability of crossover and mutation is proposed.Testing with some critical functions shows that it can improve convergence speed of genetic algorithm significantly, and its comprehensive performance is better than that of the genetic algorithm which only reserves the best individual.Appendix With the supposed conditions of section 1, we know that the validation of Theorem 1 and Theorem 2 are obvious.Theorem 3 Mathematical expectation Ec(x)of chromosome searching step with one point crossover is b?aPc2lEc(x)=

where Pc is the probability of crossover.Proof

As shown in Fig.A1, we assume that crossover happens on the kth locus, i.e.parent’s locus from k to l do not change, and genes on the locus from 1 to k are exchanged.1During crossover, change probability of genes on the locus from 1 to k is 2

(“1” to “0” or “0” to “1”).So, after crossover, mathematical expectation of chromosome searching step on locus from 1 to k is

k11b?a1b?aEck(x)??wj???l?2j?1??l?(2k?1)

22?12?1j?12j?12Furthermore, probability of taking place crossover on each locus of k1chromosome is equal, namely l Pc.Therefore, after crossover, mathematical expectation of chromosome searching step is 1Ec(x)???Pc?Eck(x)

k?1lSubstituting Eq.(A1)into Eq.(A2), we obtain l?1Pb?aP?(b?a)11b?a1?Pc??l?(2k?1)?c?l?[(2i?1)?l]?c(1?l)22?12l2?12l2?1k?1llb?a?0, so Ec(x)?Pc where l is large, l2l2?1Ec(x)??l?1

Fig.A1 One point crossover

Theorem 4 Mathematical expectation Em(x)of chromosome searching step with bit mutation Em(x)?(b?a)?Pm, where Pm is the probability of mutation.Proof Mutation probability of genes on each locus of chromosome is equal, say Pm, therefore, mathematical expectation of mutation searching step is Em(x)=?Pm·wi=?Pm·i=1i=1llb-ai-1b-a·2=P··(2i-1)=(b-a)·Pm mli2-12-1

一種新的改進遺傳算法及其性能分析

摘要：雖然遺傳算法以其全局搜索、并行計算、更好的健壯性以及在進化過程中不需要求導而著稱，但是它仍然有一定的缺陷，比如收斂速度慢。本文根據幾個基本定理，提出了一種使用變異染色體長度和交叉變異概率的改進遺傳算法，它的主要思想是：在進化的開始階段，我們使用短一些的變異染色體長度和高一些的交叉變異概率來解決，在全局最優解附近，使用長一些的變異染色體長度和低一些的交叉變異概率。最后，一些關鍵功能的測試表明，我們的解決方案可以顯著提高遺傳算法的收斂速度，其綜合性能優于只保留最佳個體的遺傳算法。

遺傳算法是一種以自然界進化中的選擇和繁殖機制為基礎的自適應的搜索技術，它是由Holland 1975年首先提出的。它以其全局搜索、并行計算、更好的健壯性以及在進化過程中不需要求導而著稱。然而它也有一些缺點，如本地搜索不佳，過早收斂，以及收斂速度慢。近些年，這個問題被廣泛地進行了研究。

本文提出了一種使用變異染色體長度和交叉變異概率的改進遺傳算法。一些關鍵功能的測試表明，我們的解決方案可以顯著提高遺傳算法的收斂速度，其綜合性能優于只保留最佳個體的遺傳算法。

在第一部分，提出了我們的新算法。第二部分，通過幾個優化例子，將該算法和只保留最佳個體的遺傳算法進行了效率的比較。第三部分，就是所得出的結論。最后，相關定理的證明過程可見附錄。

1算法的描述

1.1 一些定理

在提出我們的算法之前，先給出一個一般性的定理（見附件），如下：我們假設有一個變量（多變量可以拆分成多個部分，每一部分是一個變量）x ∈ [ a, b ] , x ∈ R，二進制的染色體編碼是1.定理1 染色體的最小分辨率是

s =

b?a l2?1定理2 染色體的第i位的權重值是

b?ai?1(i = 1,2,…l)2l?1定理3 單點交叉的染色體搜索步驟的數學期望Ec(x)是

wi =

Ec(x)= b?aPc 2l其中Pc是交叉概率

定理4 位變異的染色體搜索步驟的數學期望Em(x)是

Em(x)=(b-a)Pm

其中Pm是變異概率 算法機制

在進化過程中，我們假設變量的值域是固定的，交叉的概率是一個常數，所以從定理1 和定理3我們知道，較長的染色體長度有著較少的染色體搜索步驟和較高的分辨率；反之亦然。同時，交叉概率與搜索步驟成正比。由定理4，改變染色體的長度不影響變異的搜索步驟，而變異概率與搜索步驟也是成正比的。

進化的開始階段，較短染色體（可以是過短，否則它不利于種群多樣性）和較高的交叉和變異概率會增加搜索步驟，這樣可進行更大的域名搜索，避免陷入局部最優。而全局最優的附近，較長染色體和較低的交叉和變異概率會減少搜索的步驟，較長的染色體也提高了變異分辨率，避免在全局最優解附近徘徊，提高了算法收斂速度。

最后，應當指出，染色體長度的改變不會使個體適應性改變，因此它不影響選擇（輪盤賭選擇）。

算法描述

由于基本遺傳算法沒有在全局優化時收斂，而遺傳算法保留了當前一代的最佳個體，我

們的方法采用這項策略。在進化過程中，我們跟蹤到當代個體平均適應度的累計值。它被寫成：

1GX(t)= favg(t)?Gt?1其中G是當前進化的一代，favg是個體的平均適應度。

當累計平均適用性增加到最初個體平均適應度的k(k> 1, k ∈ R)倍，我們將染色體長度變為其自身的m(m 是一個正整數)倍，然后減小交叉和變異的概率，可以提高個體分辨率、減少搜索步驟以及提高算法收斂速度。算法的執行步驟如下：

第一步：初始化群體，并計算個體平均適應度favg0，然后設置改變參數的標志flag。flag設為1.第二步：在所保留的當代的最佳個體，進行選擇、再生、交叉和變異，并計算當代個體的累積平均適應度favg

favg0第三步：如果

favg?k 且flag = 1，把染色體的長度增加至自身的m倍，減少交叉和變異概率，并設置flag等于0;否則繼續進化。

第四步：如果滿足結束條件，停止；否則轉自第二步。

測試和分析

我們采用以下兩種方法來測試我們的方法，和只保留最佳個體的遺傳算法進行比較：

f1(x,y)?0.5?sin2x2?y2?0.5[1?0.01x?y?222?] [?5,5]

x,y∈ [?1,1] f2(x,y)?4?(x2?2y2?0.3cos(3πx)?0.4cos(4πy))

x,y∈收斂的分析

在功能測試中，我們進行了以下政策：輪盤賭選擇，單點交叉，位變異。種群的規

模是60。L是染色體長度，Pc和Pm分別是交叉概率和變異概率。我們隨機選擇4個遺傳算法所保留的最佳個體來與我們的方法進行比較，它們具有不同的固定染色體長度和交叉和變異的概率。表1給出了在100次測試的平均收斂代。

在我們的方法中，我們采取的初始參數是l0 = 10，Pc0 = 0.3，Pm0 = 0.1和k = 1.2，當滿足改變參數的條件時，我們調整參數l = 30，Pc = 0.1，Pm = 0.01。

1.1 在線和離線性能的分析

Dejong提出了遺傳算法的定量評價方法，包括在線和離線性能評價。前者測試動態性能，而后者評估收斂性能。為了更好地分析測試功能的在線和離線性能，我們把個體的適應性乘以10，并f1和f2分別給出了4 000和1 000代的曲線：

(a)在線

(b)離線

圖1 f1的在線與離線性能

(a)在線

(b)離線

從圖1和圖2可以看出，我們方法的在線性能只比第四種情況差一點點，但比第二種、第三種、第五種好很多，這幾種情況下的在線性能幾乎完全相同。同時，我們方法的離線性能也比其他四種好很多

結論

本文提出了一種使用變異染色體長度和交叉變異概率的改進遺傳算法。一些關鍵功能的測試表明，我們的解決方案可以顯著提高遺傳算法的收斂速度，其綜合性能優于只保留最佳個體的遺傳算法。

附件

有了第一部分中假定的條件，定理1和定理2的驗證是顯而易見的。下面給出定理3和定理4的證明過程：

定理3 單點交叉的染色體搜索步驟的數學期望Ec(x)是

Ec(x)= 其中Pc是交叉概率

b?aPc 2l證明：

如圖A1所示，我們假設交叉發生在第k個基因位點，從k到l的父基因位點沒有變化，基因位點1到k上的基因改變了。

在交叉過程中，1到k基因位點上的基因改變的概率為0.5(“1”變化”0”或者”0”變為”1”)，因此，交叉之后，基因位點上的染色體搜索步驟從1到k的數學期望是

k11b?a1b?aEck(x)??wj???l?2j?1??l?(2k?1)

22?12?1j?12j?121此外，每個位點的染色體發生交叉的概率是相等的，即lPc。交叉后，染色

k體搜索步驟的數學期望是

1Ec(x)???Pc?Eck(x)k?1l

把Eq.(A1)替換為Eq.(A2)，我們得到 l?1Pb?aP?(b?a)11b?a1?Pc??l?(2k?1)?c?l?[(2i?1)?l]?c(1?l)l22l2l2?12?12?1k?1lb?a?0，所以Ec(x)?Pc 其中l是非常大的，l2l2?1Ec(x)??l?1圖1 單點交叉

定理4 位變異的染色體搜索步驟的數學期望是

Em(x)?(b?a)?Pm

其中Pm是變異概率。證明：

每個基因位點上的基因的變異概率是相等的，比如Pm，因此變異搜索步驟的數學期望是：

Em(x)=?Pm·wi=?Pm·i=1i=1ll

b-ai-1b-a·2=P··(2i-1)=(b-a)·Pmmli2-12-1