问题描述：
英语翻译
A.The Physical resources
An overview of the physical resources is necessary to
understand the implemented approach discussed in this
paper.For the initial requirements of the physical cell,
two types of stages were identified:an integrated 3
Degree of freedom (DOF) stage,which is used to
control a mobile work area as needed.The second stage
(with one linear DOF,referred to as ITS) is used to
control positional movement of the micro gripper.The
part handling resources include micro grippers (from
Zyvex Corporation); A work piece supporting platen
rests on the integrated 3 DOF micro-assembly stage.A
fixture was designed to support the gripper on the ITS.
Cameras with microscopic lens are used to recognize
part movement,identify features or devices in a scene,
etc.in order to monitor,verify and provide feedback
related to the accomplishment of an assigned set of
commands or tasks (issued by a user in the physical or
virtual world).The Integrated Translation Stage is
capable of relative positioning of the WSP and the
micro gripper beneath the camera and for fine
maneuvering during assembly.An Enterprise level
Task Manager (ETM) coordinates the overall activities
including the interfaces between the Virtual Assembly
Environment (VAE) and the Physical work cell and the
communication between the VAE and the distributed
path planning resources.One of the targeted assembly
tasks involved placing pins in holes (figure 4).To
mimic the modeled scenario,the VAE,ETM and path
492
planning modules were hosted on various computers
linked via the Internet; the physical work cell was
controlled by another PC which was also linked to the
ETM.
A.The Physical resources
An overview of the physical resources is necessary to
understand the implemented approach discussed in this
paper.For the initial requirements of the physical cell,
two types of stages were identified:an integrated 3
Degree of freedom (DOF) stage,which is used to
control a mobile work area as needed.The second stage
(with one linear DOF,referred to as ITS) is used to
control positional movement of the micro gripper.The
part handling resources include micro grippers (from
Zyvex Corporation); A work piece supporting platen
rests on the integrated 3 DOF micro-assembly stage.A
fixture was designed to support the gripper on the ITS.
Cameras with microscopic lens are used to recognize
part movement,identify features or devices in a scene,
etc.in order to monitor,verify and provide feedback
related to the accomplishment of an assigned set of
commands or tasks (issued by a user in the physical or
virtual world).The Integrated Translation Stage is
capable of relative positioning of the WSP and the
micro gripper beneath the camera and for fine
maneuvering during assembly.An Enterprise level
Task Manager (ETM) coordinates the overall activities
including the interfaces between the Virtual Assembly
Environment (VAE) and the Physical work cell and the
communication between the VAE and the distributed
path planning resources.One of the targeted assembly
tasks involved placing pins in holes (figure 4).To
mimic the modeled scenario,the VAE,ETM and path
492
planning modules were hosted on various computers
linked via the Internet; the physical work cell was
controlled by another PC which was also linked to the
ETM.
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