Question

请大家帮忙翻译下这段文字，不要软件翻译的，谢谢，要求通顺合理！~~~~

6.1Workspace analysis
Over several years, various studies have been published on
workspace analysis by Gosselin [15], Merlet [16], Waldron and
Kumar [17], Tsai and Soni [18], Gupta and Roth [19], Sugimotoet al. [20], Gupta [21], Davidson and Hunt [22], and Stan et al.
[23]. However, most previous works in this area proposed using
the Jacobian approaches together with the conditioning number
limit for finding the manipulator workspaces [24,25]. It should
note that it do not directly consider the required rotary
capabilities in relation to the end-effector’s space. For the above
reasons, a new concept of task-oriented workspace that considers
only the predefined orientations of an end-effector required in
given welding tasks is introduced here for the aim of design
verification. In order to illustrate the required orientation axes,
the geometric ‘‘orientation cone’’ is proposed and represented
in Fig. 14. It shows the movement of the welding torch along the
U-shaped welding line. Frame {B} denotes the base frame, and
frame {T} denotes the tool frame. The initial tool frame for the
welding process {T0} is defined to be rotated (901, 01, 1141) with
respect to frame {B}, in order to have symmetric yaw-pitch angles.
The measured yaw-pitch angles of the welding torch, with respect
to frame {T0}, are expressed as the length from the origin by the
projection to the YZ plane, which is shown in Fig. 14. The required
yaw-pitch angles are determined as 351 about the z{T0} during the
entire welding process. To perform the welding process success-
fully, the 351 of yaw-pitch rotational capability should be
guaranteed. To make the concept of geometric ‘‘orientation cone’’
clear, it should note that the value of represented yaw-pitch
angle could be thought as the aperture angle of the orientation
cone in Fig. 14.
Here, the task-oriented workspace can be defined as the set of
points that the welding torch tip can approach with satisfying
predefined rotational capability of 351 with respect to the initial
tool frame.
For the given 3P3R welding manipulator, the results of the
workspace analysis are shown in Fig. 15. The conventional
‘‘reachable workspace’’ represents the larger area enclosing the
other two workspaces of the ‘‘task-oriented workspace’’ of
manipulator and ‘‘task workspace’’ of U-shaped trajectories. And
the results also note that the task-oriented workspace also
encloses the task workspace. Since the task workspace is much
smaller than the task-oriented workspace, the size of the current
RRX welding robot could be significantly decreased even based
solely on the kinematic analysis.

Answer 1

6.1Workspace analysis
6.1workspace分析
Over several years, various studies have been published on
在过去的几年里，各种研究已发表在
workspace analysis by Gosselin [15], Merlet [16], Waldron and
工作分析戈斯林[ 15]，[16 ]梅尔莱特，沃尔德伦和
Kumar [17], Tsai and Soni [18], Gupta and Roth [19], Sugimotoet al. [20], Gupta [21], Davidson and Hunt [22], and Stan et al.
库马尔[ 17]，[ 18 ]，索尼，笈多王朝和罗斯[ 19 ]，sugimotoet铝。[ 20]，[21 ]笈多，戴维森和亨特[ 22]，和斯坦等人。
[23]. However, most previous works in this area proposed using
[ 23]。然而，大多数以往的作品在这方面提出的使用
the Jacobian approaches together with the conditioning number
雅可比方法与条件数
limit for finding the manipulator workspaces [24,25]. It should
限制的机器人工作空间fi[来]。它应该
note that it do not directly consider the required rotary
请注意，它并不直接考虑需要的旋转
capabilities in relation to the end-effector’s space. For the above
能力与末端执行器的空间。对上述
reasons, a new concept of task-oriented workspace that considers
原因，一个新的概念，任务为导向的工作，认为
only the predefined orientations of an end-effector required in
只有形状fi内德方向的末端执行器的要求
given welding tasks is introduced here for the aim of design
给定的焊接任务是这里介绍的设计目标
verification. In order to illustrate the required orientation axes,
很fi阳离子。为了说明所需的方向轴，
the geometric ‘‘orientation cone’’ is proposed and represented
几何的'orientation锥”的建议和代表
in Fig. 14. It shows the movement of the welding torch along the
在图14。它显示了焊枪的运动沿
U-shaped welding line. Frame {B} denotes the base frame, and
形焊缝。{黑}表示框架的基础框架，并
frame {T} denotes the tool frame. The initial tool frame for the
{横置}表示框架工具框架。最初的工具架
welding process {T0} is defined to be rotated (901, 01, 1141) with
焊接工艺对}是{fi内旋转（901，01，1141）与
respect to frame {B}, in order to have symmetric yaw-pitch angles.
相对于框架{黑}，以便有对称偏航间距角度。
The measured yaw-pitch angles of the welding torch, with respect
偏航间距的测量角度的焊枪，就
to frame {T0}, are expressed as the length from the origin by the
框架{ T }，表示为长度从原产地的
projection to the YZ plane, which is shown in Fig. 14. The required
投影到平面图，这是显示在图14。必要的
yaw-pitch angles are determined as 351 about the z{T0} during the
偏航间距角度确定为351左右的{ T }在
entire welding process. To perform the welding process success-
整个焊接过程。执行焊接工艺成功—
fully, the 351 of yaw-pitch rotational capability should be
充分，351的偏航间距的旋转能力应该是
guaranteed. To make the concept of geometric ‘‘orientation cone’’
放心。使这一概念的几何的'orientation锥' '
clear, it should note that the value of represented yaw-pitch
显然，它应该注意的价值，代表偏航间距
angle could be thought as the aperture angle of the orientation
角度可以看作孔径角的方向
cone in Fig. 14.
锥在图14。
Here, the task-oriented workspace can be defined as the set of
在这里，任务导向的工作会是fi内德的集合
points that the welding torch tip can approach with satisfying
点焊枪头可与满足
predefined rotational capability of 351 with respect to the initial
形状fi内德旋转能力351方面的初步
tool frame.
工具架。
For the given 3P3R welding manipulator, the results of the
对于给定的3p3r焊接机械手，结果的
workspace analysis are shown in Fig. 15. The conventional
空间分析如图15所示。传统的
‘‘reachable workspace’’ represents the larger area enclosing the
“'reachable工作' '代表大面积包围
other two workspaces of the ‘‘task-oriented workspace’’ of
其他工作区的'task-oriented工作' '
manipulator and ‘‘task workspace’’ of U-shaped trajectories. And
机械手和'task工作' ' U形轨迹。与
the results also note that the task-oriented workspace also
结果还指出，任务为导向的工作也
encloses the task workspace. Since the task workspace is much
包围的任务工作。由于任务区的多
smaller than the task-oriented workspace, the size of the current
小于任务的工作，电流的大小
RRX welding robot could be significantly decreased even based
rrx焊接机器人可以明显减少甚至fi明显
solely on the kinematic analysis.
在运动学分析。

Answer 2

工作台分析报告
在过去的几年里，Gosselin [15], Merlet [16], Waldron 和Kumar [17], Tsai 和 Soni [18], Gupta 和 Roth [19], Sugimotoet al. [20], Gupta [21], Davidson 和 Hunt [22], 还有 Stan 等等，各类学者都出版了工作台分析报告
不管怎样，更多先前工作在这领域的人提议用Jacobian理论和条件制约因素一起控制操作者操作台大小的方法. 应该有记录说:没有直接考虑必要的旋转能力与末端执行器的地方大小有关，基于这样的原因，一个新的关于任务导向工作台的观点在这里介绍唯一末端执行器要求焊接任务的计划目标 预先确定末端执行器在给出的焊接任务要求的方向 这儿介绍的图样证明了这一目的
为了给必要的方向轴插图,几何学中的’”目标锥体”在表14中被提出和描绘出来,焊接炬沿着U字型焊接线移动,框架B标出了底座,框架T标出了最初焊接过程的工具框架,TO界定了旋转的参数(901, 01, 1141 ), B在取景的细节上仔细斟酌焊接炬的平衡偏离角,从起源到YZ的距离在表14上展示出来.焊接全部过程中偏离角被限定在351度,这个角度应该保证到焊接的全部过程完成. 在表14中考虑到取向角的孔径角,几何学中的”目标锥体”观念很清晰的记录着偏离角的重要性.在这里任务导向工作台设置在这个点上有利于焊接出令人满意的焊接点.
表15展示了所给的这个3P3R焊接支架工作台分析报告的结果,依照惯例,”可获得的工作台”,用大量的区域把操作者的任务导向工作台和U字型轨道任务工作台围了起来,任务导向工作台也把任务工作台围了起来.因此,任务工作台比任务导向工作台更小了现在RRX机器的尺寸能够作用的地方太小甚至只能在动作分析上

基本就是这意思了.你再根据你自己的专业知识理一遍就没问题了. 希望能帮到您.