一個(gè)復(fù)雜紙盒的包裝機(jī)器人外文文獻(xiàn)翻譯

1、外文原文：AcomplexcartonpackagingrobotVenketeshN.DubeyBritishSchoolofDesign,engineeringandcomputers,BournemouthUniversity,PooleJianofS.DaiKing'sCollegeLondon,UniversityofLondon,LondonObjective-TodemonstratethefeasibilityofthedesignofacomplexgeometrymultifunctionaltraypackagingmachinecanbefoldedDesign

2、/methodology/approach-Thestudytostudyvariousgeometricshapestray,thetrayisdividedintotheappropriatetypeandmachineoperationcanbeachieved;processingtrayandmechanicalmodelingandsimulation,andthefinaldesignandUltimatelyallowstheconceptualizationofthedesignanddevelopmentofpackagingmachine.Thefindings-This

3、multi-functionalpackagingmachinehasprovedtobepossible.Justthisversatilepackagingmachineminiaturization,andinvestmentinordertopromotetheirdevelopment,thismachinecanbecomeareality.Limitationsofthestudyfactors/-Thepurposeofthisstudyistoprovethattheprincipleofsuchapackagingmachine,butthepracticalapplica

4、tionneedtoconsiderthesensorgivesacompact,portablesystem.Creative/value-Thisdesignisunique,andhasbeenshowntocomplexshapescanbefoldedcarton.Keywords:roboticsPackagingAutomation.AbstractProductpackagingisoneofthekeyindustrialareas,theprimaryinterestinautomation.Thecirculationofanyproducttothehandsofcon

5、sumersneedsomeformofpackaging,food,gifts,ormedicalsupplies.Therefore,thecontinueddemandforhigh-speedproductpackaging.Forcyclicalconsumergoodsandgifts,thisrequirementisgreatlyincreased.Theyrequireinnovativepackagingdesignandattractiveinordertoattractpotentialcustomers.Usuallytheseproductslookbeautifu

6、l,complexshapeofthetraydelivery.Ifyouusethemanualmethodforpackaging,notonlytheworkersaretediousandcomplicatedtooperate,butalsotime-consumingandmonotonous.Forsimplecartonpackaging,bydedicatedmachinesarrangedalongtheconveyorbelt,hasreceivedimplementation.Thesemachinescanonlyhandleafixedtypetray,anysha

7、peandstructuralchangesisdifficulttobeincorporatedintothesystem.Inmostcases,theyaremorethan40kindsofchangesneededtoadaptthesametypebutofdifferentsizestray,whichmeansthateachparticulartypeoftrayneedsapackagingproductionline.Conversionfromonetypetoanothertypeofpaperfoldingassemblylinewillbetheincreasei

8、ncapitalspending.Becauseofthecostsassociatedwiththeseconstraintsandconvertproductionlines,packagingflexibilitywillbelost.Therefore,asacomplementtothemanualproductionlinesareintroducedinordertoadapttotheproductionofdifferenttypesofcarton,soastosolvetheproblemoftheconversionofproductionlines.Theybeara

9、bout10%oftheworkorders,andisusedastheassemblylineforproductionofpromotionalproducts.However,theproblemstillexists,administratorsandoperatorsmanualproductionlinerequiresalonglearningprocess,andmachineproductionline,laborinjuryisduetotwistinghandmovements.Inaddition,manualproductionlinesareusuallycons

10、ideredtobeaseasonalproductivity,andspecializedmachinesstillneedtorunformanyyears,inordertosavecostandtime.Designerstopursuefantasyanduniquecartonpackaginginresponsetocompetitivemarketthepackagingworkmoredifficult.Frequentchangesofstyleandtypeofcartonandsmallbatchtrayassemblyandpackaginglinesposedach

11、allengetodothisneedtodesignaflexiblemachine.Sotheresponsibilityonthepackagingindustrybody,fullyprogrammableandreconfigurablesystemshelpsspeeduptheconversionprocesstohandledifferenttypesofcarton.Thisflexibleandhighlyreconfigurablesystemdevelopmentrequiresasystematicanalysisandsynthesisofeachcomponent

12、,foldingcartonsandcartonsmodeandpackingboxes,machine,completeassemblyoperations.Onesuchmethod(LuandAkella,2000)hasbeenpublished,thismethodusesfixturestofoldingcartons.Althoughthismethodisabletocompleteallfoldingcartonoperation,buttheimplementationisjustasimplerectangularbox,thefixedautomaticdeviceis

13、installedinthespecifiedlocation.However,forcomplexgeometrytray,trayandfoldingmechanismintoaccount,inordertoachieveflexiblepackagingproductionlineautomation.Inthecomplexfoldingcartonoperationandprocessanalysis,theauthorscarriedoutalotofresearch,andresortingtographtheory,spiraltheory,matrixtheoryandas

14、patialstructureofsaidtray;theirresearchcartonmobilityandanalysisitsstructuralshape(DaiandReesJones,1997a,b,c,1999;Dubeyetal.1999a,b,c;DubeyandDai,2001).Thisarticledescribestheinreconfigurablecartonfoldingmachinedesignedtohandlecomplexgeometrycassette.TheneedsofthedesignprincipleTheprojectislistedont

15、hewishlistofmanycosmeticsandperfumessuppliers,suchasElizabethArdenandCalvinKlein,byUnileverResearchUKactivelyconsideringanumberofyears.Theyarewillingtosupportanykindoftobeabletousealternativemeanstoachievethefancycartonpackagingprocessautomationideas.Aresult,thisprojectissponsoredbyaconsortiumofBrit

16、ishandDutchUnilever,toexplorethefeasibilityofthedevelopmentofatraythatcanhandleavarietyofshapesandsizesofflexiblepackagingmachine.Thestudywasconductedbymanualpackagingprocess,revealingwhenconvertedtoacomplexproductionfromsimplecartonproduction,packagingmachinehasahighflexibility(Dai,1996).Thistraywi

17、thanirregularlyshapedcardboardfolded.Sincecardboardisbroken,ithasacertainsurfaceactivitycanberotatedaroundthecreaselines.Thesecreaselinestofacilitatefolding,resultinginashapeshift.Figure1showsafancycartonfoldingprocess,thecardboardisfoldedintotheshapeofatent.Usuallythiscomplexandsmallbatchtraymadeby

18、hand.TheprocessoffancyfoldingcartonsManualpackagingprocess,thesideofthefoldedfinger,asshowninFigure2,alongthedirectionofthearrowsaroundthethreeaxesisfolded,whilethetopandbottomsurfacesisfoldedalongaplanardirectionofthearrowswiththepalm.Thearrowsrepresenttheunwindingforceisappliedwithyourfingers,flat

19、arrowsrepresentthrustisapplied.Intheclosedintermediatelayer,delicatefingerscrossthefaceinsertdesignedgap.Summarizedfoldingstep,thecartoninavarietyofshapes,andthetrayisclassified,asshowninFigure3.Italsoshowsthevariousoperationsinvolvedinthecartonpackaging.Inparticular,tonotethatmostofthetraymustgothr

20、oughthreesteps,erected,insert1andclosed.Butinadditiontothetrayoutsidethetray,inothercases,basedonthecomplexityofthetrayshape,thepackagingstepinvolvesvariousoperations(someofwhicharedescribedabove).TheoperationsofcartonpackagingCartonCoktegoryclosureclosedGripFolOlFuhMEdTwistSqueezeStampStopperq+id&l

21、t;Thedesignofamechanicalsystemconstructionandfoldingcartonsneedtoconsiderthefollowing: multi-functional.Provideavarietyoffunctions,includingdial,fold,squeezeandtwistoperation. flexible.Theoperatingpositioncanbeachievedindifferentways. Controltheminimumnumberofaxes.Reducesystemcomplexity. reconfigura

22、bility.Todealwithavarietyofdifferentgeometriesfoldingcarton. programmability.Simultaneously,thesequentialcontrolofapluralityofaxesofmotion.Aflexiblesystemthatcanprovidefinemotorandoperatingfunctions,youneedtousetherelevantsectionofthefinger-likelinks.Sothatthefingerismountedonamovablebase,forexample

23、,theXYtableortheringguidesway,inordertoensurethatthesystemcanre-buildandhandledifferentshapesandsizesofthetray.Thecontrollerarchitectureshouldbeabletobedrivenindependentlyofeachaxis.Thedesignshouldprovidealltheoperatingfunctions,withoutmakingthesystembecomescomplex,thusmakingitacost-effectivesolutio

24、n.PackagingmachineTheoriginaldesignbasedontheabovecriteriaisconceptualizedandmodeling,asshowninFigure4.Manpowertobeabletodemonstrateavarietyoffunctionsisbasedonmanpowerflexibilityandversatility.Thedesignhasfourfingers,twoofwhicharethreedegreesoffreedom,twoofwhicharetwodegreesoffreedom.Thethreedegree

25、soffreedomofthejointsofthefingersthroughthebottomofthedeflectionmovement(Y),relyontheremainingtwojointsforpitchmotion(P),therebyformingtheYP-Pconfiguration.Thetwo-degree-of-freedomfingerscanonlybedoneinatwo-dimensionalplanepitchingmotion.Packagingmachinemodel1 ThreedegreesoFreedanfinger2 Twodegrees&

26、#169;F'Freedomfinger3 Guide4 Rotarybase5 HorizontalFlop6 Squarebase7 Bo.semotor8 Joirrbmo-tor9 Fingerwi'th口v-grooveThefingerismountedontheguiderailcanbemovedtransverselymovablealongthesliderail,buttherailitself.Thefingersaremountedontherotatingbase,theseaxescanbeappropriatelyadjusted.Thetwoc

27、lamphandpropulsivemovementinthedirectionparalleltothefingerhorizontalrail,asshowninthemodel.Thebaffleisattachedtothehandsoftheclamp,andismountedinthebottomofthejoint,whenthepushoperation,theycanfollowthecontourofthetraymovement.Thetrayisplacedinthesquareatthecenterofthebottomofthebase,thebaseisdrive

28、nbyanelectricmotorforverticalmovementandrotation,sothatthecartonpackagingoperationsrequiredforanyposition.Thejointofthefingerdirectlythroughthejointmotordrive,theentiresystemneedstobecontrolledshaft14.Theseconsiderationsarebasedonahighdegreeofreconfigurabilityandcontroltheminimumnumberofaxis.Fingert

29、ipdesignsspecialconsideration,becausetheyhavetoperformvariousoperationalfunctionsdiscussedintheprevioussection.Inspiredbythemanualpackagingprocess,fingertipdesignwiththetipoftheV-groove.Accordingtotheneedsofthemanualpackaging,makingitthefinger"poke"and"squeeze"theforceisappliedon

30、thecassette.Theprongsareusedtopokeoperation,intheextrusionoftheV-shapedgroove,paperboard,opentoplugoperation.Inadditiontoprovidingunstintingeffortandsqueezeforce,Y-shapedportionofthetwo-degree-of-freedomfingercanprovidetemporaryflatcardboardthrust.Inthecaseofalimiteddegreeoffreedom,thisdesigncanprov

31、idemanyflexibleoperatingfunctionstohandlethedifferentconstructdifferenttypesoftray.Themodelprovidesthemachineisrunningallthenecessarymotioninformation(DubeyandCrowder,2003).Packagingmachineparametermodelhasbeendeveloped(Workspace4,1998),thegeometricshapeandsizechangesinthedesigncanbeeasilyincorporat

32、edintothemodel,includingtheconfigurationofauthentication.Thisalsomakesthemotionparametersofthemachinemembercanbeascertainedpriortoprocessing.Positioningpointofcontactcanbeachievedbyrecordingthedisplacementofthecontactpoint,theconnectivityofthefingermovementbetweenthecartonpackagingcartons,carton.The

33、pointofcontactonthecartoncanberepresentedbythegeometryofthefoldingsequenceidentification(DubeyandDai,2001).Thesecontactpointsusedtomeasuretheoffsetofeachfingerjoint.Thesedisplacementdataaresubjectedtotheinterpolationoperation,togenerateoptimalfingerpathtominimizetheunnecessaryfingermovement,thusredu

34、cingthepackagingcycletime.Interpolationofdataobtainedfromthemodelcanbedownloaded,todrivethefingers.Thecurrentresearchworkisbasedonthegeometriccharacteristicsofthetrayandthefoldingsequenceoftheentirepackagingprocesscanbeautomated(Dubeyetal,2000),ratherthanbymeansofthesimulationofthetray.Figure5showsa

35、fingertracethepointofcontactonthetraywhenthetrayisfolded.Simulationmodelforthedesignandcontrolofthepackagingmachineprovidesalotofvaluableinformation.Forexample,priortothedimensionsandstructureofthesimulationmodelcanbeusedtocheckthegeometryandstructureofthemachine.Bychangingtheparametersofthebasicdim

36、ensionsofthemodel,anynewmechanicalpartsgeometricinformationcanbeobtaineddirectly.Motiondataobtainedinthefoldingprocessofthetrayandthetrackcanbeusedforthefingersystemcontrol.Atpresent,theanalogmotionparameterscannotbedirectlyintegratedintothecontroller,thesedatamustbeinputintheformofadatafiletothecon

37、troller.However,thismethodcanbefullycheckedfoldingsequence,andthendownloadthesedataandinputtothecontroller.RobotfoldingcartonTestingmachineThree-dimensionalinformationobtainedfromthemodeldevelopedbythepackagingmachinewiththreelinearmotor;twofordrivingtheclamphands,oneforcontroloftheverticalmovemento

38、ftherotatingplatform.10Japan'sYaskawaElectrichigh-torque,high-performancemotorisusedatthejointsofthefingers,thesemotorspecifications:size,30x30mm;weight,70g;torque,0.7Nm/22.5rpm;transmissionratio,80:1,harmonicdrive;opticalencoder,96pulse/rev.Thismeansthatthefingerscanbeprovided10cm7Npressuresuff

39、icienttocollapsethisfancygiftcarton.Thecontrollerarchitectureusesfourmotioncontrolprogramcards,eachcardcancontroluptofouraxes(DubeyandCrowder,2003).ThesecardssupporttheCprogramminglanguage,motioncontrol,italsohasaG-codeprogramminginterfaceforrapidtestingandanalogprocessing.Thesystemalsousesapneumati

40、cconnectiontoconnectthesuckeroffswitch,thecontrollercanbecontrolledbythesucker.Turnthedialtrayfromonelocationtoanotherlocationandposition(inthefuturealsoplanstousetheV-shapedgrooveonthefinger),tocompletethecrawl.Thiswillhelptodealwiththeformationofthecartonboard,topreventtheslide(Dubeyetal,1999).Ino

41、rdertoestablishthefunctionofthepackagingsystemusedtobuildandfoldingcarton,afterthesametodeterminethegeometryofthemodelandpackagingmachinesbothdatafilesgeneratedfromthemodelfeedbacktothecontroller.Datafilesrunningmotiondatawithasinglelinestoragemotorcoordination,andfollow-uptothenextstageofthemotionc

42、ontrolparameters.Therefore,thecontrolprograminordertoreaddata,andgeneratesthecorrespondinginterruptwhilesendingoperationscommand.So,thefingerscanbeparallel,continuouslyrepeatedmovement.Preparedforavarietyofoperatingfunctionsofasubprogramcanfurtherenhancetheprogrammingcapabilitiesofthecontroller,soth

43、atthemodularstructureofthecontrollercanbeachieved,andthusbetterabletoadapttoanynewcartonfoldingandpackagingoperationstep.Reconfigurablecapacityofthesystemisoneofthekeyissuesofsystemdevelopment.Duringthesystemdesignideaistousethesystemtocollapsedifferenttypesofminorchangestothetray.Todothis,ensuretha

44、tthedevicehasdevelopedgoodgraphicalmodelandthebasicstructureisveryimportanttobeassembled.Runningmachines,datafilesareincludedinthemainprogram,whenthefoldingcartonoperationforthefirsttimesinastep-by-steppilotmodetoverifythatthefingermovement.Oncethesystemhascompletedthepreparatoryworkoftheautomaticpa

45、ckaging,thesystemcanbebuiltinlessthan45secondsandfoldingcarton(Figure1).AsshowninFigure1showstheadvancedmachine,allthefingersandhorizontalpushrodareinvolvedinthecomplexfoldingoperation.Althoughitisdifficulttotimethecomparisonwithmanualpackaging,butwewerethesamecartontest,manualpackaging(learning)tak

46、esanaverageofabout60seconds.Reconfigurablemachineanothertypeoftraycanbefoldedtoprove,asshowninIllustration2.Thisisacomplexshapeoftheclosedtray.Thepackagingofthiscartoncardboardtoperformvariousoperations,includingtheallocationoftwistingandfolding.Resetthemachinestructure,thewholecartonfoldingprocessi

47、stime-consuming45s.Modifiedmachinecanbemodifiedbeforethemachine(asshowninFigure1below)comparable.Thisindicatesahighdegreeofflexibilityinthesystemandre-designscapabilities.TherunningpackagingmachineAnothercartonpackagingmachineDiscussionandconclusionsThispaperproposesaflexible,reconfigurableassemblya

48、ndpackagingsystems.Thepurposeofthisstudyistodesignaprocessingthedifferentgeometriestrayreconfigurableassemblyandpackagingsystems.Theoriginalideawastodevelopasystemcandemonstratetheabilitytoadapttodifferentstylesandcomplexshapescarton.Theresultsshowthatthepackagingmachinecanbefoldedcartonoftwocomplet

49、elydifferentshapes.Inanycase,thefoldingcycleisapproximately45seconds.Althoughthisisnotanoptimalfoldingtime,butusingtheonlinedatatransferisexpectedtoreducethecycletimeof30secondsorless.Althoughaveryflexiblecartonpackagingmachineforworkshopproduction,therearestillmanyproblemstobesolved.However,thepurp

50、oseofthisstudyistoverifythatafastconversiontechnologyforthepackagingindustry.Portionincludesoptimizationfingerrailneedstobeimprovedinthefuture,theuseofforcefeedbacktouchsensorinordertoavoidexcessivepressureonthecardboard,andthefoldingoperationwillbecarriedoutinavacuumapparatus.Alsorecommendedthatthe

51、simulationmodelcombinedwiththeactualmachinesothatitcanbedownloadedonlinedata.TheXYtableavailablemotordriveandcontrol,automaticreconstruction.Thisstate-of-the-arttechnologywillautomatetheentirepackagingprocess,fromthetwo-dimensionalmapofthetray,andthendeterminethekinematiccharacteristicsandgeneratemo

52、tionsequencestocompletetheproductpackaging.Inaddition,ifsmall,alsoplanstobeflexible,reconfigurablerobotinstalledonarobotarmtoobtaingreaterflexibility.Thesystemnotonlyforcartonfoldingcanalsobefoldedintothepapertray.Thiswillreducepackagingtime,alsobeabletomeetthechallengesofthechangingdemandforhigh-en

53、dprivateproductpackagingandhighflexibility.外文資料翻譯譯文一個(gè)復(fù)雜紙盒的包裝機(jī)器人VenketeshN.Dubey英國(guó)設(shè)計(jì)學(xué)院，工程和計(jì)算機(jī)，伯恩茅斯大學(xué)，普爾JianS.Dai倫敦大學(xué)國(guó)王學(xué)院，英國(guó)倫敦大學(xué)，倫敦摘要目的為了展示設(shè)計(jì)一種可以折疊復(fù)雜幾何形狀的紙盒的多功能包裝機(jī)的可行性。設(shè)計(jì)/方法/方式這項(xiàng)研究對(duì)各種幾何形狀的紙盒進(jìn)行研究，將紙盒分為適當(dāng)?shù)念?lèi)型以及機(jī)器可以實(shí)現(xiàn)的操作；把能加工這些紙盒，并進(jìn)行機(jī)械建模和仿真，且最終可以設(shè)計(jì)和開(kāi)發(fā)的包裝機(jī)概念化。研究結(jié)果這種多功能包裝機(jī)已經(jīng)被證明是可能的。只需將這種多功能包裝機(jī)小型化，并對(duì)它投資以促進(jìn)其發(fā)

54、展，這種機(jī)器可以成為現(xiàn)實(shí)。研究限制因素/問(wèn)題本研究的目的是證明這種包裝機(jī)的原理，但實(shí)際應(yīng)用需要考慮結(jié)合傳感器給出了一個(gè)緊湊的、便攜式系統(tǒng)。創(chuàng)意/價(jià)值這項(xiàng)設(shè)計(jì)是獨(dú)一無(wú)二的，并已被證明可以折疊各種復(fù)雜形狀的紙盒。關(guān)鍵字：機(jī)器人技術(shù)包裝自動(dòng)化文章類(lèi)型：研究論文1 簡(jiǎn)介產(chǎn)品包裝是關(guān)鍵的工業(yè)領(lǐng)域之一，以自動(dòng)化為首要權(quán)益。任何產(chǎn)品流通到消費(fèi)者手中需要某種形式的包裝，無(wú)論是食品、禮品或醫(yī)療用品。因此，對(duì)高速的產(chǎn)品包裝有持續(xù)的需求。對(duì)于周期性消費(fèi)品和精美禮品，這項(xiàng)需求更是大大增加。它們要求包裝設(shè)計(jì)新穎且有吸引力，以吸引潛在客戶。通常這類(lèi)產(chǎn)品用外觀精美、形狀復(fù)雜的紙盒遞送。如果采用手工方法進(jìn)行包裝，不僅令工人感

55、到乏味且操作復(fù)雜，也費(fèi)時(shí)和單調(diào)。對(duì)于簡(jiǎn)單的紙盒包裝，通過(guò)使用沿傳送帶布置的專(zhuān)用機(jī)器，已經(jīng)獲得了實(shí)現(xiàn)。這些機(jī)器只能處理固定類(lèi)型的紙盒，任何形狀和結(jié)構(gòu)的變化很難納入到系統(tǒng)之中。在大多數(shù)情況下，它們需要進(jìn)行超過(guò)40種變化以適應(yīng)同種類(lèi)型但大小不同的紙盒，這就意味著每一個(gè)特定類(lèi)型的紙盒需要一條包裝生產(chǎn)線。從一種類(lèi)型到另一種類(lèi)型的紙盒折疊組裝生產(chǎn)線的轉(zhuǎn)換將會(huì)使資本支出增加。因?yàn)檫@些限制因素和轉(zhuǎn)換生產(chǎn)線的相關(guān)成本，包裝的靈活性將會(huì)失去。因此，作為一種補(bǔ)充，手工生產(chǎn)線被引進(jìn)以適應(yīng)不同類(lèi)型的紙盒的生產(chǎn),從而解決轉(zhuǎn)換生產(chǎn)線的問(wèn)題。它們承擔(dān)了大約10%的工作訂單，并被用作生產(chǎn)促銷(xiāo)產(chǎn)品的組裝生產(chǎn)線。但是，問(wèn)題仍然存在

56、，手工生產(chǎn)線上的管理員和操作工需要一個(gè)長(zhǎng)時(shí)間的學(xué)習(xí)過(guò)程，而且與機(jī)器生產(chǎn)線不同，勞動(dòng)傷害主要是源于扭手動(dòng)作。此外，手工生產(chǎn)線通常被認(rèn)為是一個(gè)季節(jié)性的生產(chǎn)力，仍然需要專(zhuān)門(mén)的機(jī)器長(zhǎng)年運(yùn)行，以節(jié)約成本和時(shí)間。設(shè)計(jì)師追求奇幻和獨(dú)特的紙盒包裝以響應(yīng)競(jìng)爭(zhēng)激烈的市場(chǎng)，使包裝工作更加困難。紙盒的風(fēng)格和類(lèi)型的頻繁變化和小批量生產(chǎn)對(duì)紙盒裝配和包裝生產(chǎn)線提出了挑戰(zhàn)，為此需要設(shè)計(jì)一種靈活的機(jī)器。因此，這項(xiàng)責(zé)任放在了包裝行業(yè)的身上,在可編程和可重構(gòu)系統(tǒng)的幫助下充分加快轉(zhuǎn)換過(guò)程以處理不同類(lèi)型的紙盒。這種靈活的和高度可重構(gòu)的系統(tǒng)的開(kāi)發(fā)需要進(jìn)行系統(tǒng)的分析和綜合每個(gè)部件，即紙盒和紙盒的折疊模式、包裝紙盒的機(jī)器、完整的組裝操作。一

57、種這樣的方法（Lu和Akella，2000年）已經(jīng)公布了,該方法使用固定裝置來(lái)折疊紙盒。雖然這種方法能完成紙盒所有折疊操作，但實(shí)施的工作只是處理一個(gè)簡(jiǎn)單的矩形箱,其固定的自動(dòng)裝置被安裝在指定的位置。但是，對(duì)于復(fù)雜幾何體紙盒，需要對(duì)紙盒和折疊機(jī)構(gòu)進(jìn)行綜合考慮，從而實(shí)現(xiàn)包裝生產(chǎn)線的柔性自動(dòng)化。在復(fù)雜紙盒的折疊操作及工序分析方面，作者開(kāi)展了大量的研究，并訴諸于圖形理論、螺旋理論、矩陣?yán)碚撉乙砸环N空間結(jié)構(gòu)表示紙盒；及其研究紙盒移動(dòng)性和分析其結(jié)構(gòu)外形（DaiandReesJones，1997a，b，c，1999；Dubeyetal.1999a，b，c；DubeyandDai，2001）。本文介紹從事設(shè)計(jì)

58、能處理復(fù)雜幾何形狀紙盒的可重構(gòu)紙盒折疊機(jī)的研究。2 設(shè)計(jì)和原理的需要該項(xiàng)目被列在許多化妝品和香水供應(yīng)商的愿望列表上，如伊麗莎白雅頓和卡爾文克萊恩，并被UnileverResearchUK積極地考慮了數(shù)年。他們?cè)敢庵С秩魏我环N能夠使用一些替代手段從而實(shí)現(xiàn)整個(gè)花式紙盒包裝過(guò)程自動(dòng)化的研究思想。結(jié)果，這個(gè)項(xiàng)目是由英國(guó)和荷蘭聯(lián)合利華財(cái)團(tuán)贊助，以探索開(kāi)發(fā)一種可處理各種形狀和尺寸的紙盒的柔性包裝機(jī)的可行性。這項(xiàng)研究由手工包裝流程的研究開(kāi)始，揭示了當(dāng)從簡(jiǎn)單的紙盒的生產(chǎn)轉(zhuǎn)換到一個(gè)復(fù)雜的紙盒的生產(chǎn)時(shí)，要求包裝機(jī)具有較高的靈活性（Dai,1996年）c這樣的紙盒用一張形狀不規(guī)則的硬紙板折疊而成。由于紙板被折斷，它有若干個(gè)可圍繞折痕線旋轉(zhuǎn)的活動(dòng)的面。這些折痕線便于折疊，從而造成一種形狀的轉(zhuǎn)變。圖1顯示了一個(gè)花式紙盒的折疊過(guò)程，硬紙板被折疊后，變成了帳篷的形狀。通常這種復(fù)雜的且小批量生產(chǎn)的紙盒都采用手工制作。圖1花式紙盒的折疊過(guò)程在手工包裝工藝中，使用手指折起側(cè)面，如圖2所示，沿箭頭的方向繞著三個(gè)軸進(jìn)行折疊，而頂面和底面是用手掌沿平箭頭所示方向折起。箭頭代表用手指施加撥力，而平箭頭代表施加推力。在閉合中間層時(shí)，需要手指精巧地交叉地將端面插進(jìn)設(shè)計(jì)好的縫隙中。為了歸納折疊步驟，對(duì)各種形狀的紙盒進(jìn)行了研究，