Introduction to How ASIMO Works
Want a robot to cook your dinner, do your homework, clean your house, or get your groceries? Robots already do a lot of the jobs that we humans don't want to do, can't do, or simply can't do as well as our robotic counterparts.
Honda engineers have been busy creating the ASIMO robot for more than 20 years. In this article, we'll find out what makes ASIMO the most advanced humanoid robot to date.
The Honda Motor Company developed ASIMO, which stands for Advanced Step in Innovative Mobility, and is the most advanced humanoid robot in the world. According to the ASIMO Web site, ASIMO is the first humanoid robot in the world that can walk independently and climb stairs.
Rather than building a robot that would be another toy, Honda wanted to create a robot that would be a helper for people -- a robot to help around the house, help the elderly, or help someone confined to a wheelchair or bed. ASIMO is 4 feet 3 inches (1.3 meters) high, This allows ASIMO to do the jobs it was created to do without being too big and menacing.
ASIMO's Motion: Walk Like a Human
Honda researchers began by studying the legs of insects, mammals, and the motion of a mountain climber with prosthetic legs to better understand the physiology and all of the things that take place when we walk -- particularly in the joints. For example, the fact that we shift our weight using our bodies and especially our arms in order to balance was very important in getting ASIMO's walking mechanism right. The fact that we have toes that help with our balance was also taken into consideration: ASIMO actually has soft projections on its feet that play a similar role to the one our toes play when we walk. This soft material also absorbs impact on the joints, just as our soft tissues do when we walk.
ASIMO has hip, knee, and foot joints. Robots have joints that researchers refer to as "degrees of freedom." A single degree of freedom allows movement either right and left or up and down. ASIMO has 34 degrees of freedom spread over different points of its body in order to allow it to move freely. There are three degrees of freedom in ASIMO's neck, seven on each arm and six on each leg. The number of degrees of freedom necessary for ASIMO's legs was decided by measuring human joint movement while walking on flat ground, climbing stairs and running.
ASIMO also has a speed sensor and a gyroscope sensor mounted on its body. They perform the tasks of:
∙sensing the position of ASIMO's body and the speed at which it is moving
∙relaying adjustments for balance to the central computer
These sensors work similarly to our inner ears in the way they maintain balance and orientation.
ASIMO also has floor surface sensors in its feet and six ultrasonic sensors in its midsection. These sensors enhance ASIMO's ability to interact with its environment by detecting objects around ASIMO and comparing gathered information with maps of the area stored in ASIMO's memory.
To accomplish the job our muscles and skin do in sensing muscle power, pressure and joint angles, ASIMO has both joint-angle sensors and a six-axis force sensor.
Unless you know a lot about robotics, you may not fully grasp the incredible milestone it is that ASIMO walks as we do. The most significant part of ASIMO's walk is the turning capabilities. Rather than having to stop and shuffle, stop and shuffle, and stop and shuffle into a new direction, ASIMO leans and smoothly turns just like a human. ASIMO can also self-adjust its steps in case it stumbles, is pushed, or otherwise encounters something that alters normal walking.
In order to accomplish this, ASIMO's engineers had to find a way to work with the inertial forces created when walking. For example, the earth's gravity creates a force, as does the speed at which you walk. Those two forces are called the "total inertial force." There is also the force created when your foot connects with the ground, called the "ground reaction force." These forces have to balance out, and posture has to work to make it happen. This is called the "zero moment point" (ZMP).
To control ASIMO's posture, engineers worked on three areas of control:
∙Floor reaction control means that the soles of the feet absorb floor unevenness while still maintaining a firm stance.
∙Target ZMP control means that when ASIMO can't stand firmly and its body begins to fall forward, it maintains position by moving its upper body in the direction opposite the impending fall. At the same time, it speeds up its walking to quickly counterbalance the fall.
∙Foot-planting location control kicks in when the target ZMP control has been activated. It adjusts the length of the step to regain the right relationship between the position and speed of the body and the length of the step.
ASIMO's Motion: Smooth Moves
ASIMO can sense falling movements and react to them quickly; but ASIMO's engineers wanted more. They wanted the robot to have a smooth gait as well as do something that other robots can't do -- turn without stopping.
When we walk around corners, we shift our center of gravity into the turn. ASIMO uses a technology called "predictive movement control," also called Honda's Intelligent Real-Time Flexible Walking Technology or I-Walk, to accomplish that same thing. ASIMO predicts how much it should shift its center of gravity to the inside of the turn and how long that shift should be maintained. Because this technolgy works in real time, ASIMO can do this without stopping between steps, which other robots must do.
Essentially, with every step ASIMO takes, it has to determine its inertia and then predict how its weight needs to be shifted for the next step in order to walk and turn smoothly. It adjusts any of the following factors in order to maintain the right position:
∙the length of its steps
∙its body position
∙its speed
∙the direction in which it is stepping
While reproducing a human-like walk is an amazing achievement, ASIMO can now run at speeds up to 3.7 miles per hour (6 kilometers per hour). In order to qualify as a true running robot, ASIMO must have both feet off the ground for an instant in each step. ASIMO manages to be airborne for .08 seconds with each step while running.
Honda engineers encountered an entirely new set of challenges while trying to give ASIMO the ability to run. They gave ASIMO’s torso a degree of freedom to aid in bending and twisting so that the robot could adjust its posture while airborne. Without this ability, ASIMO would lose control while airborne, possibly spinning in the air or tripping when landing.
In order to make turns smoothly while running, the engineers enhanced ASIMO's ability to tilt its center of gravity inside turns to maintain balance and counteract centrifugal force. ASIMO could even anticipate turns and begin to lean into them before starting the turn, much like you would if you were skiing or skating.
ASIMO如何工作
介绍如何工作。ASIMO
想要一个机器人做你请我共进晚餐,做你的家庭作业,清洁你的房子,或者让你的东西吗?机器人已经做了大量的工作,我们人类不想做的事情,不能做的事,或无法完成的以及我们的机器人同行。
工程师们一直在忙本田的ASIMO机器人创造了超过20年。在这篇文章中,我们会发现什么使ASIMO相似,最先进的仿人形机器人的日期。
本田汽车公司开发研制,代表先进的介入创新流动,这是最先进的仿人机器人在世界上。根据ASIMO的网站,是第一个ASIMO机器人在这世界上,可以行走能力和爬楼梯。
而非建立一个机器人是另一个玩具,本田希望创造一个机器人是一个帮助人们——一个机器人去帮助在房屋周围,帮助老年人,或帮助别人被束缚在轮椅上或是睡觉。ASIMO相似,是4英尺3英寸(1.3米)高,这使得ASIMO的工作做它的成立是为了做的,没有被太大威胁。
ASIMO的运动:走起路来像人类
研究人员通过研究本田开始腿昆虫、哺乳动物,以及一个登山者的运动与假腿能更好地理解生理和所有的事情发生——特别是当我们走在关节。例如,这个事实,我们把我们用我们的身体重量,尤其是我们的为了平衡是非常重要的行走机构获得ASIMO的权利。事实上,我们的脚趾那帮助我们平衡也被考虑在内:其实有着柔软的ASIMO的预测它的脚踢相似的角色与我们的脚趾头打我们步行的时候。这个柔软的材料也吸收影响关节,就如我们软组织做什么时,我们走。
ASIMO相似,有臀部、膝盖和脚关节。机器人的关节研究人员是指为“的自由度。“一个单自由度允许移动或左右或上下运动。ASIMO相似,有34自由度遍及身体不同的点,以使它能自由移动。有三个自由度的ASIMO的脖子上,七个在胳膊上、六个名字在每条腿上。自由度的数目所需的腿是ASIMO决定人类联合运动测量在平地上散步时,爬楼梯和跑步。
ASIMO相似,也有一个速度传感器、陀螺仪传感器安装在了它的躯体。他们完成任务的:
ASIMO•传感的位置的尸体和移动速度
针对平衡•传达电脑
这些传感器的工作同样我们内在的耳朵在保持平衡和定位。
ASIMO相似,也有地板表面传感器在其英尺六超声波传感器在它的腹部。这些传感器的交互能力提高ASIMO以其周围环境比较,探测到物体ASIMO的地图聚集信息储存在记忆的区域ASIMO。
完成这项工作我们的肌肉和皮肤在传感的肌肉力量、压力和关节角度,既有joint-angle ASIMO传感器和串联力传感器。
除非你知道很多关于机器人,你可能不充分掌握里程碑是ASIMO走呢。最重要的一部分是车削ASIMO的行走的能力。而不是不得不停下来推诿、停止和洗牌,停下来和洗牌进入一个新的方向,倾斜和顺利转ASIMO就像一个人。它也能自我校正研制步骤以免跌倒,被推,否则碰到一些改变正常走路。
为了实现这一目标,研制的工程师们必须要找到办法工作时形成的惯性力量行走。举例来说,地球的引力造成的力量一样,你走路的速度。那两个力量叫做“总惯性力。“还有产生的力当你的脚与地面连接,叫做“地面反力的特点。“这些力量必须平衡,和姿态工作让它发生。这被称为“零弯矩点”(零力矩点)。
ASIMO的姿态控制,工程师工作三个方面来控制:
反应控制意味着•地板脚底吸收层在仍然保持不坚定的立场。
•目标意味着当ASIMO零力矩点控制不能坚决和它的身体开始向前摔倒,这样使它维持其上肢位置移动的方向相反的即将到来的秋天。同时,加快其行走快速平衡跌倒。
•foot-planting定位控制拳打脚踢,在当目标的零力矩点控制一直是激活。它的长度调整步骤之间的关系恢复对身体的位置和速度和长度的一步。
ASIMO的运动:平滑移动
ASIMO相似,能感觉运动及反应下降很快,但需要更多的工程师研制。他们想要有一个圆滑机器人步态以及做一些事,其他机器人不能做的事——将没有停下脚步。
当我们走每一个角落,我们把我们的重心的转变。使用了一个技术研制称为“预测运动控制”,也叫本田的智能实时灵活技术或I-Walk行走,以完成那个同样的事情。ASIMO预测有多少应该转变重心在回转的内侧和多长时间把应当保持。因为这技术在真正的时间内工作,可以没有停止ASIMO之间的步骤,而其他机器人必须做的。
从本质上讲,每一步都需要与ASIMO,它必须确定其惯性,然后预测它的重量必须改变为下一步为了走然后顺利。它调整下列任何一种因素以维持正确的位置。
它的长度步骤•
•其身体的位置
•速度
在•方向正在
在象人类一样繁殖走路是一个了不起的成就,现在可以运行ASIMO高达3.7英里每小时(6公里每小时)。为了符合真实运行机器人,ASIMO相似,必须具备两脚离地面一瞬间在每一个步骤。设法使ASIMO空降。08秒每走一步,而运行。
本田遇到一个全新的集工程师的挑战而试图给ASIMO能力运行。他们给ASIMO躯干了一定程度上的自由,来帮助弯扭使机器人姿态而调整其适用性问题。没有这个能力,就会失去控制而研制机载,可能纺纱在空气中或脱扣当降落。
为了使转平稳运行时,工程师的能力增强ASIMO倾斜的重力中心转向内部离心力保持平衡和抵消。ASIMO相似,甚至可以预期开始倾斜转弯,他们将开始前,就像你若您正在滑雪、滑冰。
There are lots of different ways that electronic devices can connect to one another. For example:
∙Component cables
∙Electrical wires
∙Ethernet cables
∙WiFi
∙Infrared signals
When you use computers, entertainment systems or telephones, the various pieces and parts of the systems make up a community of electronic devices. These devices communicate with each other using a variety of wires, cables, radio signals and infrared light beams, and an even greater variety of connectors, plugs and protocols.
The art of connecting things is becoming more and more complex every day. In this article, we will look at a method of connecting devices, called Bluetooth, that can streamline the process. A Bluetooth connection is wireless and automatic, and it has a number of interesting features that can simplify our daily lives.
Bluetooth takes small-area networking to the next level by removing the need for user intervention and keeping transmission power extremely low to save battery power. Picture this: You're on your Bluetooth-enabled cell phone, standing outside the door to your house. You tell the person on the other end of the line to call you back in five minutes so you can get in the house and put your stuff away. As soon as you walk in the house, the map you received on your cell phone from your car's Bluetooth-enabled GPS system is automatically sent to your Bluetooth-enabled computer, because your cell phone picked up a Bluetooth signal from your PC and automatically sent the data you designated for transfer. Five minutes later, when your friend calls you back, your Bluetooth-enabled home phone rings instead of your cell phone. The person called the same number, but your home phone picked up the Bluetooth signal from your cell phone and automatically re-routed the call because it realized you were home. And each transmission signal to and from your cell phone consumes just 1 milliwatt of power, so your cell phone charge is virtually unaffected by all of this activity.
Bluetooth is essentially a networking standard that works at two levels:
∙It provides agreement at the physical level -- Bluetooth is a radio-frequency standard
∙It provides agreement at the protocol level, where products have to agree on when bits are sent, how many will be sent at a time, and how the parties in a conversation can be sure that the message received is the same as the message sent.
The big draws of Bluetooth are that it is wireless, inexpensive and automatic. There are other ways to get around using wires, including infrared communication. Infrared (IR) refers to light waves of a lower frequency than human eyes can receive and interpret. Infrared is used in most television remote control systems. Infrared communications are fairly reliable and don't cost very much to build into a device, but there are a couple of drawbacks. First, infrared is a "line of sight" technology. For example, you have to point the remote control at the television or DVD player to make things happen. The second drawback is that infrared is almost always a "one to one" technology. You can send data between your desktop computer and your laptop computer, but not your laptop computer and your PDA at the same time. (See How Remote Controls Work to learn more about infrared communication.)
These two qualities of infrared are actually advantageous in some regards. Because infrared transmitters and receivers have to be lined up with each other, interference between devices is uncommon. The one-to-one nature of infrared communications is useful in that you can make sure a message goes only to the intended recipient, even in a room full of infrared receivers.
Bluetooth is intended to get around the problems that come with infrared systems. The older Bluetooth 1.0 standard has a maximum transfer speed of 1 megabit per second (Mbps), while Bluetooth 2.0 can manage up to 3 Mbps. Bluetooth 2.0 is backward-compatible with 1.0 devices.
Let's find out how Bluetooth networking works.
Bluetooth networking transmits data via low-power radio waves. It communicates on a frequency of 2.45 gigahertz (actually between 2.402 GHz and 2.480 GHz, to be exact). This frequency band has been set aside by international agreement for the use of industrial, scientific and medical devices (ISM).
A number of devices that you may already use take advantage of this same radio-frequency band. Baby monitors, garage-door openers and the newest generation of cordless phones all make use of frequencies in the ISM band. Making sure that Bluetooth and these other devices don't interfere with one another has been a crucial part of the design process.
One of the ways Bluetooth devices avoid interfering with other systems is by sending out very weak signals of about 1 milliwatt. By comparison, the most powerful cell phones can transmit a signal of 3 watts. The low power limits the range of a Bluetooth device to about 10 meters (32 feet), cutting the chances of interference between your computer system and your portable telephone or television. Even with the low power, Bluetooth doesn't require line of sight between communicating devices. The walls in your house won't stop a Bluetooth signal, making the standard useful for controlling several devices in different rooms.
Bluetooth can connect up to eight devices simultaneously. With all of those devices in the same 10-meter (32-foot) radius, you might think they'd interfere with one another, but it's unlikely. Bluetooth uses a technique called spread-spectrum frequency hopping that makes it rare for more than one device to be transmitting on the same frequency at the same time. In this technique, a device will use 79 individual, randomly chosen frequencies within a designated range, changing from one to another on a regular basis. In the case of Bluetooth, the transmitters change frequencies 1,600 times every second, meaning that more devices can make full use of a limited slice of the radio spectrum. Since every Bluetooth transmitter uses spread-spectrum transmitting automatically, it’s unlikely that two transmitters will be on the same frequency at the same time. This same technique minimizes the risk that portable phones or baby monitors will disrupt Bluetooth devices, since any interference on a particular frequency will last only a tiny fraction of a second.
When Bluetooth-capable devices come within range of one another, an electronic conversation takes place to determine whether they have data to share or whether one needs to control the other. The user doesn't have to press a button or give a command -- the electronic conversation happens automatically. Once the conversation has occurred, the devices -- whether they're part of a computer system or a stereo -- form a network. Bluetooth systems create a personal-area network (PAN), or piconet, that may fill a room or may encompass no more distance than that between the cell phone on a belt-clip and the headset on your head. Once a piconet is established, the members randomly hop frequencies in unison so they stay in touch with one another and avoid other piconets that may be operating in the same room.
有很多不同的方法,电子设备可以连接到另一个。例如:
•组件电缆
•电线
•以太网电缆
•无线
•红外信号
当你使用电脑,娱乐系统、电话、各种管件和部分系统构成一个社区的电子设备。这些装置互相交流使用各种不同的电线、电缆、无线电信号和红外光束,和一个更大的各种连接器、插头和协议。
连接事物的艺术越来越复杂,每一天。在这篇文章中,我们将会看到一个连接装置的方法,称为蓝牙,可以简化工艺。一个蓝牙连接是无线的、自动的,它有很多有趣的特点,能简化我们的日常生活中。
以small-area蓝牙网络到下一水平除去需要用户介入并保持极低的传输功率节省电池电力。想象这样一幅图景:你在Bluetooth-enabled手机,站在门外到你家。你告诉人在电话线另一头的给你回电话,这样你就可以在五分钟内得到在屋里,把东西都走了。当你走在那所房子里,这张地图你收到你的手机从您的车Bluetooth-enabled GPS系统Bluetooth-enabled自动发送到您的电脑,因为你捡起一个蓝牙手机信号从你的电脑并自动发送的数据转移指定。五分钟后,当你的朋友给你打电话回来,你的Bluetooth-enabled家里电话响了,而不是你的手机。人称为相同数目,但你拿起电话,你的手机蓝牙信号并自动呼叫,因为它要意识到你在家。每个信号传输,从你的手机只有1 milliwatt消耗的权力,那么你的手机费用几乎不受这所有的一切活动。
蓝牙实质上是一种网络标准工作的两个层次:
它提供了协议•在物质层面上——蓝牙技术是一种无线射频标准
它提供了协议•协议水平,产品已同意在当位差,多少会派遣一个时间,以及如何在对话双方可以确定的消息是一样的消息。
大吸引对蓝牙技术是无线、价格低廉、自动化程度高。还有其他方法可以做到使用电线,包括红外通信。红外(IR)是指一个低频光波比人的眼睛可以接受和理解。红外用于大部分的电视遥控器系统。红外通信是相当可靠,不要花费很多钱建立成一个设备,但是有两个缺点。首先,红外是一个“瞄准线”技术。例如,你必须指出在电视遥控器或DVD播放机使事情发生。第二个缺点是红外几乎总是一个“一对一”的技术。你可以把你的桌面计算机之间的数据和你的笔记本电脑,但不是你的笔记本电脑和你的掌上电脑在同一时间内。(看遥控器学习更多关于红外通信。)
这两种品质优越的红外实际上是在一些的问候。因为红外线发射器和接收器必须排队相互之间的干扰设备很少见。大自然的一对一的红外通信是有用的,因为你可以确保信息的接受者只去,甚至在一个房间里充满了红外接收器。
蓝牙技术是为了让周围的问题来自于红外系统。年长的蓝牙1.0标准有一个最大速度每秒1模式(比特),而蓝芽2.0可以管理3个比特。backward-compatible蓝牙2.0与1.0的设备。
让我们来看看如何蓝牙网络的作品。
通过蓝牙网络传送数据的低功耗无线电波。它沟通频率为2.45兆赫(实际上是介于2.402兆赫和2.480兆赫,确切地说)。频段已拨根据国际协议,使用工业、科学和医疗设备(ISM)。
大量的设备,你可以利用已使用同样的射频乐队。婴儿监视器,garage-door器和最新一代的无绳电话都要使用的频率在ISM乐队。确保蓝牙和这些其他的装置不要干涉一个另一个原因是至关重要的一个部分设计过程。
蓝牙设备的方法之一是避免干扰其他系统发送很弱信号milliwatt为1。相比之下,最强大的手机可以传输信号3瓦的能量。低权限范围的蓝牙设备为10米(32英尺),切割的机会,你的计算机系统之间的干扰和你的手提电话或电视。即使低功率、蓝牙不需要的视线之间沟通的设备。在你家里墙上蓝牙不会停止信号,使有用一些设备控制标准在不同的房间。
蓝牙可以连接到8个设备同时进行。所有的这些装置在相同(32-foot)半径),你可能认为他们会妨碍另一个人,但这是不可能的。采用一种技术名为”蓝牙跳频扩频使它很少超过一台设备要发射信号在同一个频率上,在同一时间内。这一技术的设备将消耗79个人,随机选择一个指定的频率范围内,改变从一个到另一个进行定期检查。在案件的蓝牙,改变频率发射器的1600倍的每一秒,意味着更多的设备可以充分利用有限的片的无线频谱。因为每一个蓝牙发射机采用扩频传输后,在可预见的将来,两个发射器将在同一个频率在同一时间内。同样的方法使便携式电话或婴儿的风险监控的蓝牙设备会破坏,因为任何一个特定的频率干扰只能维持一个很小的一分一秒。
当Bluetooth-capable设备来彼此的射程之内,一个电子谈话发生决定他们是否有数据共享还是一需要控制。用户不需要按下一个按钮或是给一个命令——电子的对话发生自动。一旦谈话已经发生,设备的一部分——无论他们是一种计算机系统或一个立体声——形成网络。蓝牙系统创建一个personal-area网络(锅),或piconet,那可能会填补一个房间或可以覆盖没有更多的距离比之间的一个belt-clip手机和耳机在你头上。一旦一个piconet,建立了随机跳频率一致的成员,所以他们保持联系,彼此避开其他的微操作可能在同一个房间。
When the general shape and a few dimensions of the several
components become apparent, analysis can begin in earnest.
The analysis will have as its objective satisfactory or
superior performance, plus safety and durability with minimum
weight, and a competitive cost. Optimum proportions and
dimensions will be sought for each critically loaded section,
together with a balance between the strengths of the several
components. Materials and their treatment will be chosen.
These important objectives can be attained only by analysis
based upon the principles of mechanics, such as those of
statics for reaction forces and for the optimum utilization
of friction; of dynamics for inertia (惯性), acceleration, and
energy; of elasticity and strength of materials for stress
and deflection; of physical behavior of materials; and of
fluid mechanics for lubrication and hydrodynamic drives. The
analyses may be made by the same engineer who conceived the
arrangement of mechanisms, or, in a large company, they may
be made by a separate analysis division or research group. As
a result of the analyses, new arrangements and new dimensions
may be required. Design is a reiterative and cooperative
process, whether done formally or informally, and the analyst
can contribute to phases other than his own.
Finally, a design based upon function and reliability will
be completed, and a prototype may be built. If its tests are
satisfactory, and if the device is to be produced in
quantity, the initial design will undergo certain
modifications that enable it to be manufactured in quantity
at a lower cost. During subsequent years of manufacture and
service, the design is likely to undergo changes as new ideas
are conceived or as further analyses based upon tests and
experience indicate alterations. Sales appeal, customer
satisfaction, and manufacturing cost are all related to
design, and ability in design is intimately involved in the
success of an engineering venture.
Some Rules for Design
In this section it is suggested that, applied with a
creative attitude, analyses can lead to important
improvements and to the conception and perfection of
alternate, perhaps more functional, economical, and durable
products. The creative phase need not be an initial and
separate one. Although he may not be responsible for the
whole design, an analyst can contribute more than the
numerically correct answer to a problem that he is asked to
solve—more than the values of stress, dimensions, or
limitations of operation. He can take the broader view that
the specifications or the arrangements may be improved. Since
he will become familiar with the device and its conditions of
operation before or during his analysis, he is in a good
position to conceive of alternatives. It is better that he
suggest a change in shape that will eliminate a moment or a
stress concentration than to allow construction of a
mechanism with heavy sections and excessive dynamic loads. It
is better that he scrap his fine analysis, rather than that
he later see the mechanism scrapped.
To stimulate creative thought, the following rules are
suggested for the designer and analyst. The first six rules
are particularly applicable for the analyst, although he may
become involved with all ten rules.
设计过程中 一台机器是一个相结合的机制等 这些器件转换、传输、利用能源,暴力,或一个有用的目的运动。例子是引擎,涡轮机、车辆、葫芦、印刷机、洗衣服机器,和电影摄影机。许多的原则方法应用到机械设计同样适用制造的物品不是真正的机器,从中心电容(毂盖)和文件柜和核设备压力容器(核压力容器)。术语“机械设计”用于广泛的含义比“机械设计”包括
他们的设计中。对于一些机构、热液方面的要求,确定热、流道,和体积是单独考虑的。然而,运动和结构方面,保留和规定外壳是机械设计要考虑的因素。应用发生在机械工程领域的,和其他工程领域,都需要机械设备,例如开关、凸轮、阀门、器皿,搅拌机和。
设始于一个需要的,真实的,还是想象中的。现有仪器需要改善耐久性、效率,重量、速度、或成本。新设备才能执行职能原本是由男人们做的事,例如计算、装配、或维修。与客观全部或者部分定义,下一步在设计和他们的概念,将安排机制执行所需的功能。为此,徒手画草图很有价值,不仅仅是一个人的思想和记录在讨论一个援助他人,但特别一个人自己头脑的交流,作为一个激励创造性的想法。同样,一个组件的广博的知识理想的,因为一个新的机器通常由一个新的著名的安排或替代类型的组件,或许有变化的大小和构成物质。要么在这个概念或之后的过程中,一个人会快速或粗糙的计算或分析确定一般大小和可行性。当一些观点的总量或可用空间,需要取得,to-scale(按规定比例)可能开始布置图。
通用形状和少数几个维度组件变得明显,分析就可以开始中解脱出来这种分析可以作为它的目标“满意”或“卓越的性能,以及安全性和耐久性与最低限度重量,以及具有竞争力的成本。最佳比例和尺寸将寻找每个极加载部分,连同之间的一个平衡点的若干优点组件。材料及其治疗将被选中。这些重要的目标,就可以达到只有通过分析根据力学原理等对反力静力学和适当使用摩擦;动态进行惯性(惯性),加速度和能量;弹性应力和强度的材料
和挠度,材料的物理行为,体力学和流体润滑驱动器。这分析可以由相同的工程师的怀孕安排的机制,或者,在一个大公司,他们可以由一个的分析分立或研究小组。作为结果分析、新的安排和新的维度可能被需要。设计是一个反复和合作过程,不论是做正式的或非正式的聚会,分析师可以促进其他阶段,而不是他自己的。
最后,基于功能和可靠性设计被完成,一个样机可以被建立。如果试验是
满意,如果这个装置产生数量、初始设计将进行确定
修改,使它生产的数量以较低的成本。在接下来的几年的生产和服务,设计可能需要进行变化,新的想法构思或基于测试进行了进一步的分析和经验表明的变化。销售的吸引力,客户满意,并且生产成本都是相关的设计,并在设计能力密切地参与到成功是一个工程风险。有规律的设计在本节的内容中,指出采用造性的态度,可以导致重要的分析改善及观念和完善互生,也许更多的功能、经济、经久耐用产品。创造性的相位不需要成为一个初始的和区分一个。尽管他可能不负责整个设计的一名分析师可以贡献更多比
数值正确答案的一个问题,他被要求solve-more应力比的价值观、尺寸、或操作。他可以把广阔的视角规格或安排会有改善。自从他将成为熟悉装置及其条件的他的分析操作之前或期间,他是一个好怀孕的位置的选择。最好的那个他建议一个改变形状,将消除某个时刻比允许应力集中建设
机制和过多的动态负荷沉重的部分。它他废更好他出色的分析,而不是吗
他后来看到机制报废。激发创造性思维、以下规则提出了设计师和分析师。首六个规则特别适用于分析师,虽然他可能吗成为涉及所有10个规则。
