英语翻译abstractOver the last few decades,there have been a larg

英语翻译
abstract
Over the last few decades,there have been a large number of attempts to automate welding in the
shipbuilding process.However,there are still many non-automated welding operations in the double-
hulled blocks,even though it presents an extremely hazardous environment for the workers.And,the
hazards come about mainly because of the dimensional constraints of the access-hole.Thus,much
effort has been recently directed toward the research on compact design of the fully-autonomous robot
working inside of the double-hulled structures.This paper describes the design,integration,
simulations,and field testing trials of a new type of welding robotic system,the RRXC,which is
composed of a 6-axis modularized controller,a 3P3R serial manipulator,and an auxiliary transportation
device.The entire cross section of the RRXC is small enough to be placed inside the double-hulled
structures via a conventional access hole of 500 Â 700 mm2,from the outside shipyard floor.The weight
of the manufactured RRXC is 60 kg,with a 6-axis manipulator and modularized controller,and the
weight of an auxiliary transportation device is 8 kg,with a 2.5 m steel wire of 6F.Throughout the field
tests in the enclosed structures of shipbuilding,the developed RRXC has successfully demonstrated
welding functions without the use of any additional finishing by manual welders,and has shown good
mobility using an auxiliary transportation device in double-hulled structures.
& 2010 Published by Elsevier Ltd.

文摘
过去几十年里,已经有大量的试图自动化焊接
然而,仍有许多竞价在双-焊接作业
hulled街区,即使它提出了一个极其危险环境的工人.而且,
灾害发生的最主要的是,空间的制约的access-hole.因此,很多
最近努力向着研究fully-autonomous紧凑设计的机器人
double-hulled结构的内部工作.本文阐述了设计、集成、
模拟和现场测试试验的一种新型焊接机器人系统,RRXC,这是
由一6-axis模块化控制器,3 P3R系列机械手,和一个辅助运输
装置.整个截面的RRXC够小,小到可以被放置在double-hulled
通过传统的访问孔结构的一个700平方毫米的500年,从外面看船厂的地板上.重量
生产的RRXC是60公斤,6-axis机械手和模块化控制器,
一种辅助运输设备的重量为8公斤2.5 m钢丝6 F.整个能量场
封闭式结构试验造船、发达RRXC已成功地进行了论证
焊接功能而不使用任何的额外的完成手工焊接机,显示了其良好的
用一个辅助运输设备流动性在double-hulled结构.
和2010年公布的财务有限公司.