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毕业设计论文外文资料翻译系别机电信息系专业机械设计制造及其自动化班级姓名学号外文出处MANUFACTURINGENGINEERINGANDTECHNOLOGYMACHINING附件1原文；2译文2013年03月外文原文ROBOTMANIPULATORSTHEINDUSTRIALROBOTMANIPULATORISUSEDINTHEMANUFACTURINGENVIRONMENTTOINCREASEPRODUCTIVITYITCANBEUSEDTODOROUTINEANDTEDIOUSASSEMBLYLINEJOBS,ORITCANPERFORMJOBSTHATMIGHTBEHAZARDOUSTODOROUTINEANDTEDIOUSASSEMBLYLINEJOBS,ORITCANPERFORMJOBSTHATMIGHTBEHAZARDOUSTOTHEHUMANWORKERFOREXAMPLE,ONEOFTHEFIRSTINDUSTRIALROBOTMANIPULATORSWASUSEDTOREPLACETHENUCLEARFUELRODSINNUCLEARPOWERPLANTSAHUMANDOINGTHISJOBMIGHTBEEXPOSEDTOHARMFULAMOUNTSOFRADIATIONTHEINDUSTRIALROBOTMANIPULATORCANALSOOPERATEONTHEASSEMBLYLINE,PUTTINGTOGETHERSMALLCOMPONENTS,SUCHASPLACINGELECTRONICCOMPONENTSONAPRINTEDCIRCUITBOARDTHUS,THEHUMANWORKERCANBERELIEVEDOFTHEROUTINEOPERATIONOFTHISTEDIOUSTASKROBOTMANIPULATORSCANALSOBEPROGRAMMEDTODEFUSEBOMBS,TOSERVETHEHANDICAPPED,ANDTOPERFORMFUNCTIONSINNUMEROUSAPPLICATIONSINOURSOCIETYTHEROBOTMANIPULATORCANBETHOUGHTOFASAMACHINETHATWILLMOVEANENDOFARMTOOL,SENSOR,ANDGRIPPERTOAPREPROGRAMMEDLOCATIONWHENTHEROBOTMANIPULATORARRIVESATTHISLOCATION,ITWILLPERFORMSOMESORTOFTASKTHISTASKCOULDBEWELDING,SEALING,MACHINELOADING,MACHINEUNLOADING,ORAHOSTOFASSEMBLYJOBSGENERALLY,THISWORKCANBEACCOMPLISHEDWITHOUTTHEINVOLVEMENTOFAHUMANBEING,EXCEPTFORPROGRAMMINGANDFORTURNINGTHESYSTEMONANDOFFTHEBASICTERMINOLOGYOFROBOTMANIPULATORICSYSTEMSISINTRODUCEDINTHEFOLLOWING1AROBOTMANIPULATORISAREPROGRAMMABLE,MULTIFUNCTIONALMANIPULATORDESIGNEDTOMOVEPARTS,MATERIALS,TOOLS,ORSPECIALDEVICESTHROUGHVARIABLEPROGRAMMEDMOTIONSFORTHEPERFORMANCEOFAVARIETYOFDIFFERENTTASKTHISBASICDEFINITIONLEADSTOOTHERDEFINITIONS,PRESENTEDINTHEFOLLOWINGPARAGRAPHS,THATGIVEACOMPLETEPICTUREOFAROBOTMANIPULATORICSYSTEM2PREPROGRAMMEDLOCATIONSAREPATHSTHATTHEROBOTMANIPULATORMUSTFOLLOWTOACCOMPLISHWORKATSOMEOFTHESELOCATIONS,THEROBOTMANIPULATORWILLSTOPANDPERFORMSOMEOPERATION,SUCHASASSEMBLYOFPARTS,SPRAYPAINTING,ORWELDINGTHESEPREPROGRAMMEDLOCATIONSARESTOREDINTHEROBOTMANIPULATOR’SMEMORYANDARERECALLEDLATERFORCONTINUOUSOPERATIONFURTHERMORE,THESEPREPROGRAMMEDLOCATIONS,ASWELLASOTHERPROGRAMDATA,CANBECHANGEDLATERASTHEWORKREQUIREMENTSCHANGETHUS,WITHREGARDTOTHISPROGRAMMINGFEATURE,ANINDUSTRIALROBOTMANIPULATORISVERYMUCHLIKEACOMPUTER,WHEREDATACANBESTOREDANDLATERRECALLEDANDEDITED3THEMANIPULATORISTHEARMOFTHEROBOTMANIPULATORITALLOWSTHEROBOTMANIPULATORTOBEND,REACH,ANDTWISTTHISMOVEMENTISPROVIDEDBYTHEMANIPULATOR’SAXES,ALSOCALLEDTHEDEGREESOFFREEDOMOFTHEROBOTMANIPULATORAROBOTMANIPULATORCANHAVEFROM3TO16AXESTHETERMDEGREESOFFREEDOMOFFREEDOMWILLALWAYSRELATETOTHENUMBEROFAXESFOUNDONAROBOTMANIPULATOR4THETOOLINGANDGRIPPERSARENOTPARTOFTHEROBOTMANIPULATORICSYSTEMITSELF；RATHER,THEYAREATTACHMENTSTHATFITONTHEENDOFTHEROBOTMANIPULATOR’SARMTHESEATTACHMENTSCONNECTEDTOTHEENDOFTHEROBOTMANIPULATOR’SARMALLOWTHEROBOTMANIPULATORTOLIFTPARTS,SPOTWELD,PAINT,ARCWELD,DRILL,DEBURR,ANDDOAVARIETYOFTASKS,DEPENDINGONWHATISREQUIREDOFTHEROBOTMANIPULATOR5THEROBOTMANIPULATORICSYSTEMCANALSOCONTROLTHEWORKCELLOFTHEOPERATINGROBOTMANIPULATORTHEWORKCELLOFTHEROBOTMANIPULATORISTHETOTALENVIRONMENTINWHICHTHEROBOTMANIPULATORMUSTPERFORMITSTASKINCLUDEDWITHINTHISCELLMAYBETHECONTROLLER,THEROBOTMANIPULATORMANIPULATOR,AWORKTABLE,SAFETYFEATURES,ORACONVEYORALLTHEEQUIPMENTTHATISREQUIREDINORDERFORTHEROBOTMANIPULATORTODOITSJOBISINCLUDEDINTHEWORKCELLINADDITION,SIGNALSFROMOUTSIDEDEVICESCANCOMMUNICATEWITHTHEROBOTMANIPULATORINORDERTOTELLTHEROBOTMANIPULATORWHENITSHOULDASSEMBLEPARTS,PICKUPPARTS,ORUNLOADPARTSTOACONVEYORTHEROBOTMANIPULATORICSYSTEMHASTHREEBASICCOMPONENTSTHEMANIPULATOR,THECONTROLLER,ANDTHEPOWERSOURCEAMANIPULATORTHEMANIPULATOR,WHICHDOESTHEPHYSICALWORKOFTHEROBOTMANIPULATORICSYSTEM,CONSISTSOFTWOSECTIONSTHEMECHANICALSECTIONANDTHEATTACHEDAPPENDAGETHEMANIPULATORALSOHASABASETOWHICHTHEAPPENDAGESAREATTACHEDFIG1ILLUSTRATESTHECONNECTIONOFTHEBASEANDTHEAPPENDAGEOFAROBOTMANIPULATORTHEBASEOFTHEMANIPULATORISUSUALLYFIXEDTOTHEFLOOROFTHEWORKAREASOMETIMES,THOUGH,THEBASEMAYBEMOVABLEINTHISCASE,THEBASEISATTACHEDTOEITHERARAILORATRACK,ALLOWINGTHEMANIPULATORTOBEMOVEDFROMONELOCATIONTOANOTHERASMENTIONEDPREVIOUSLY,THEAPPENDAGEEXTENDSFROMTHEBASEOFTHEROBOTMANIPULATORTHEAPPENDAGEISTHEARMOFTHEROBOTMANIPULATORITCANBEEITHERASTRAIGHT,MOVABLEARMORAJOINTEDARMTHEJOINTEDARMISALSOKNOWNASANARTICULATEDARMTHEAPPENDAGESOFTHEROBOTMANIPULATORMANIPULATORGIVETHEMANIPULATORITSVARIOUSAXESOFMOTIONTHESEAXESAREATTACHEDTOAFIXEDBASE,WHICH,INTURN,ISSECUREDTOAMOUNTINGTHISMOUNTINGENSURESTHATTHEMANIPULATORWILLREMAININONELOCATION。ATTHEENDOFTHEARM,AWRISTISCONNECTEDTHEWRISTISMADEUPOFADDITIONALAXESANDAWRISTFLANGETHEWRISTFLANGEALLOWSTHEROBOTMANIPULATORUSERTOCONNECTDIFFERENTTOOLINGTOTHEWRISTFORDIFFERENTJOBSTHEMANIPULATOR’SAXESALLOWITTOPERFORMWORKWITHINACERTAINAREATHISAREAISCALLEDTHEWORKCELLOFTHEROBOTMANIPULATOR,ANDITSSIZECORRESPONDSTOTHESIZEOFTHEMANIPULATORFIG2ILLUSTRATESTHEWORKCELLOFATYPICALASSEMBLYROBOTMANIPULATORASTHEROBOTMANIPULATOR’SPHYSICALSIZEINCREASES,THESIZEOFTHEWORKCELLMUSTALSOINCREASETHEMOVEMENTOFTHEMANIPULATORISCONTROLLEDBYACTUATORS,ORDRIVESYSTEMSTHEACTUATORS,ORDRIVESYSTEM,ALLOWSTHEVARIOUSAXESTOMOVEWITHINTHEWORKCELLTHEDRIVESYSTEMCANUSEELECTRIC,HYDRAULIC,ORPNEUMATICPOWERTHEENERGYDEVELOPEDBYTHEDRIVESYSTEMISCONVERTEDTOMECHANICALPOWERBYVARIOUSMECHANICALDRIVESYSTEMSTHEDRIVESYSTEMSARECOUPLEDTHROUGHMECHANICALLINKAGESTHESELINKAGES,INTURN,DRIVETHEDIFFERENTAXESOFTHEROBOTMANIPULATORTHEMECHANICALLINKAGESMAYBECOMPOSEDOFCHAINS,GEARS,ANDBALLSCREWSBCONTROLLERTHECONTROLLERINTHEROBOTMANIPULATORICSYSTEMISTHEHEARTOFTHEOPERATIONTHECONTROLLERSTORESPREPROGRAMMEDINFORMATIONFORLATERRECALL,CONTROLPERIPHERALDEVICES,ANDCOMMUNICATESWITHCOMPUTERSWITHINTHEPLANTFORCONSTANTUPDATESINPRODUCTIONTHECONTROLLERSISUSEDTOCONTROLTHEROBOTMANIPULATORMANIPULATOR’SMOVEMENTSASWELLASTOCONTROLPERIPHERALCOMPONENTSWITHINTHEWORKCELLTHEUSERCANPROGRAMTHEMOVEMENTSOFTHEMANIPULATORINTOTHECONTROLLERTHROUGHTHEUSEOFAHANDHELDTEACHPENDENTTHISINFORMATIONISSTOREDINTHEMEMORYOFTHECONTROLLERFORLATERRECALLTHECONTROLLERSTORESALLPROGRAMDATAOFTHEROBOTMANIPULATORICSYSTEMITCANSTORESEVERALDIFFERENTPROGRAMS,ANDANYOFTHESEPROGRAMSCANBEEDITEDTHECONTROLLERISALSOREQUIREDTOCOMMUNICATEWITHPERIPHERALEQUIPMENTWITHINTHEWORKCELLFOREXAMPLE,THECONTROLLERHASANINPUTLINETHATIDENTIFIESWHENAMACHININGOPERATIONISCOMPLETEDWHENTHEMACHINECYCLEISCOMPLETED,THEINPUTLINETURNSON,TELLINGTHECONTROLLERTOPOSITIONTHEMANIPULATORSOTHATITCANPICKUPTHEFINISHEDPARTTHEN,ANEWPARTISPICKEDUPBYTHEMANIPULATORANDPLACEDINTOTHEMACHINENEXT,THECONTROLLERSIGNALSTHEMACHINETOSTARTOPERATIONTHECONTROLLERCANBEMADEFROMMECHANICALLYOPERATEDDRUMSTHATSTEPTHROUGHASEQUENCEOFEVENTSTHISTYPEOFCONTROLLEROPERATESWITHAVERYSIMPLEROBOTMANIPULATORICSYSTEMTHECONTROLLERSFOUNDONTHEMAJORITYOFROBOTMANIPULATORICSYSTEMSAREMORECOMPLEXDEVICESANDREPRESENTSTATEOFTHEARTELECTRONICSTHATIS,THEYAREMICROPROCESSOROPERATEDTHESEMICROPROCESSORSAREEITHER8BIT,16BIT,OR32BITPROCESSORSTHISPOWERALLOWSTHECONTROLLERTOBEVERYFLEXIBLEINITSOPERATIONTHECONTROLLERCANSENDELECTRICSIGNALSOVERCOMMUNICATIONLINESTHATALLOWITTOTALKWITHTHEVARIOUSAXESOFMANIPULATORTHISTWOWAYCOMMUNICATIONBETWEENTHEROBOTMANIPULATORMANIPULATORANDTHECONTROLLERMAINTAINSACONSTANTUPDATEOFTHELOCATIONANDTHEOPERATIONOFTHESYSTEMTHECONTROLLERALSOCONTROLSANYTOOLINGPLACEDONTHEENDOFTHEROBOTMANIPULATOR’SWRISTTHECONTROLLERALSOHASTHEJOBOFCOMMUNICATINGWITHTHEDIFFERENTPLANTCOMPUTERSTHECOMMUNICATIONLINKESTABLISHESTHEROBOTMANIPULATORASPARTOFACOMPUTERASSISTEDMANUFACTURINGCAMSYSTEMASTHEBASICDEFINITIONSTATED,THEROBOTMANIPULATORISAREPROGRAMMABLE,MULTIFUNCTIONALMANIPULATORTHEREFORE,THECONTROLLERMUSTCONTAINSOMETYPEOFMEMORYSTORAGETHEMICROPROCESSORBASEDSYSTEMSOPERATEINCONJUNCTIONWITHSOLIDSTATEMEMORYDEVICESTHESEMEMORYDEVICESMAYBEMAGNETICBUBBLES,RANDOMACCESSMEMORY,FLOPPYDISKS,ORMAGNETICTAPEEACHMEMORYSTORAGEDEVICESTORESPROGRAMINFORMATIONFORLATERRECALLORFOREDITINGCPOWERSUPPLYTHEPOWERSUPPLYISTHEUNITTHATSUPPLIESPOWERTOTHECONTROLLERANDTHEMANIPULATORTWOTYPESOFPOWERAREDELIVEREDTOTHEROBOTMANIPULATORICSYSTEMONETYPEOFPOWERISTHEACPOWERFOROPERATIONOFTHECONTROLLERTHEOTHERTYPEOFPOWERISUSEDFORDRIVINGTHEVARIOUSAXESOFTHEMANIPULATORFOREXAMPLE,IFTHEROBOTMANIPULATORMANIPULATORIDCONTROLLEDBYHYDRAULICORPNEUMATICMANIPULATORDRIVES,CONTROLSIGNALSARESENTTOTHESEDEVICES,CAUSINGMOTIONOFTHEROBOTMANIPULATORFOREACHROBOTMANIPULATORICSYSTEM,POWERISREQUIREDTOOPERATETHEMANIPULATORTHISPOWERCANBEDEVELOPEDFROMEITHERAHYDRAULICPOWERSOURCE,APNEUMATICPOWERSOURCE,ORANELECTRICPOWERSOURCE,THESEPOWERSOURCESAREPARTOFTHETOTALCOMPONENTSOFTHEROBOTMANIPULATORICWORKCELL
