武峰吊顶:帮忙 翻译 谢谢

（三） The articulated finger of Figure 6(c) has been designed to mimic the human grasp, but with one degree-of-freedom (DOF) actuation only and an easy mechanical design by using commercial components for the gear trains and belt
transmissions.
Electrical actuation for the leg mechanism, two-finger gripper, and articulated finger has been attempted and is under further development.
A new design for a 3-DOF parallel manipulator has been conceived in the form of the architecture of the Cassino Parallel Manipulator (CaPaMan) [3] by using four-bar linkages in the legs and a symmetric design in order to obtain a user-friendly design and easy operation, although parallel manipulators may have complex design and nonintuitive operation. In fact, the CaPaMan proto-type of Figure 6(d) has been machined in a small commer-cial machining store at low cost because of the familiar four-bar mechanisms in the leg architecture. In order to
improve the design approach for a low-cost robot and user-oriented mechanism, the CaPaMan design has been evolved as shown in Figure 7. A prototype of the second version of CaPaMan2 has been built as shown in Figure 7(b) by replacing the sliding pairs with revolute joints in order to give a more compact design and more reliable operation by avoiding the strong influence of the friction in the sliding joints. Recently, a third version of CaPaMan has been conceived as shown in Figure 7(c). By replacing the four-bar linkage with a slider crank mechanism. Its
actuation can be obtained by a linear pneumatic piston in order to simplify the motion programming and control and to attempt pneumatic actuation in a parallel manipu- lator. Indeed, the CaPaMan design can be thought of as a successful application of the low-cost robot concept in all its aspects.
In addition, following the design guidelines for low-cost robots, very recently, at LARM, a study of feasi- bility has been carried out for a low-cost humanoid robot (Figure 8) by using the above-mentioned robot for the legs and trunk and adding arms with a simple mechani-cal design. The mechanical design of a low-cost LARM humanoid of Figure 8 is based on common mechanisms with easy mechanical design, such as articulated parallelo-grams and pantographs; on market
actuators, like linear and rotative pneumatic pistons; on industrial control systems, like a commercial PLC and electrovalves; and on mar-ket sensors, like optical sensors and force sensors. Compar ing the design of the low-cost LARM humanoid with famous humanoids (like the Sony robot, Wabot, and so on) that have recently been made available on the market, one can recognize great differences in the mechanical design but also in the actuation and control system and, finally, in the cost. The cost for the LARM humanoid has been estimated to be less than US$15,000.