英語翻譯In order to rigidlyconnect both ends of the upper longit

題目：

英語翻譯
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.

解答：

爲了使上面縱向剛性元件的末端能夠用鋼絲緊固連接,需要用到一個用於在一側固定縱向剛性元件的手鉗和一個用於在另一側抵抗鋼絲張力的手動絞車.這樣可以將RRXC沿著連接的鋼絲用電動絞車輸送過來,有滾筒用於處理鋼絲.另外,RRXC在垂直臂的頂部有個尺寸爲M12的鉸接螺栓,便於使用帶鉤的電動絞車.因此,這種結構可以提著RRXC上下移動.
圖11表示的是通過一個雙殼區上500 Â 700 mm2的出入口安裝RRXC的順序步驟.圖中也表示出了用於同步沿徑向方向輸送三個RRXC的滑板,以及通過用RRXC機器人支撐重量在500 Â 700 mm2出入口處安裝用的跨接板.在這些情況中,通過出入口安裝系統就需要兩個電動絞車和兩個工人將車從一邊搬到另外一邊.在圖12中可以看到安裝整個輔助運輸設備,RRXC數目方向設置和雙殼區的工作方向的全部工藝過程.機器人的拆卸是反過程.需要注意的是推薦使用的輸送系統也可以在其他操作中使用,例如梯子的輸送.
6.工作空間分析和仿真
圖13 表示的是RRX焊接機器人的動力學模型,該模型是3P3R機械手,包括一條PPPRRR串聯鏈,這裡P和R分別是稜柱形和轉動關節.機械手有六個自由度和六個活動關節,每個由圖6（a）中的每個箭頭表示出來.用於解決圖13中機械手3P3R的動力學的迪納維特；哈坦伯格參數在表4中列出,表中ai–1,ai–1,
di,和 yi分別是關節i的連接扭轉角,連接長度,關節距離和關節角度.
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