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.docDeburring
Generate
Automated
yields
benefits
cost
part-assembly fit
performance
combination
sensors
achieve
consistent
interpreting
fixturing
tool
based
upon
workspace
processing
grossly
checked
collision
approach phase
checked
transferred
workstation
controller
direct
cut
Interactive process
Automated-robotic
a computer-aided
design
provides
linked
definition
aids
designer
prototype
self-calibrating
correction
tolerances
varying
position
the tooling due
to nonprecision
placement
wear
acoustic emission
sensor
produce
chamfer
include
tumbling
sand blasting
selective
of removing
burrs
whereas
tumbling
sand blasting
is inconsistent
, slow
costly
dangerous
removal
Description
required
data
extracted
database
preprocessed
work-piece
created
edges
blinking
curved
represented
straight
segments
faces
reoriented
outward
collision-checking
software
demonstrated
involves
motions
links
toward
initial
Collision
checking
performed
detect
avoid
follows
movement
end joints
Therefore
end links
examined
acceptable
kinematic
constraints
optimum
relative
defining
downloaded
into
controller
interrupt
while
synchronized
pulse
initialized
predefined
robot-path-point
transferred
postprocessing
simply
end-effector
velocity
direct
Realtime-feedback
calibrate
conduct
shallow
chamfer
virtue
transducer
triangulation
using
force-torque
wrist
accounts
uncertainty
location
due
fabrication
tolerances
inaccuracies
holding
measurements
engagement
resulting
low-chip
load
low forces
transducer
transmits
representing
sensitivity
less
transducer
through
complete
provides
workhorse
monitored
root-mean-square
provides
excellent
material
removal
robustness
exposure
immediate
response
which
measure
response
cutting
engaged
sensitivity
small depths
engagement
correlation
chamfer
responsive
sensitive
to depth of engagement
Additionally
metal-removal-rate
devising
strategies
designing
robot-end-effector
table
maintain
depth
engagement
upon
during
laboratory
apparatus
proven
track
skew
Additionally
capable
compensating
positional errors
freedom
thus
providing
planner motion
rotation
end joint
repeatability
incremental
continuous
movements
accuracy
limits
precision
principal
limitations exist
the joint flexibility
compliance
sawtooth
movement
inherent
arm
design
algorithm
overcome
using
accuracy
achieve
objective
chamfer
provides
following
engagement