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智能助行机器人设计—行走机构与机械系统设计,智能,机器人,设计,行走,机构,机械,系统

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毕 业 设 计（论 文）任 务 书 设计（论文）题目：智能助行机器人设计行走机构与机械系统设计 学生姓名：发任务书日期：年月日 任务书填写要求1毕业设计（论文）任务书由指导教师根据各课题的具体情况填写，经学生所在专业的负责人审查、系（院）领导签字后生效。此任务书应在毕业设计（论文）开始前一周内填好并发给学生。2任务书内容必须用黑墨水笔工整书写，不得涂改或潦草书写；或者按教务处统一设计的电子文档标准格式（可从教务处网页上下载）打印，要求正文小4号宋体，1.5倍行距，禁止打印在其它纸上剪贴。3任务书内填写的内容，必须和学生毕业设计（论文）完成的情况相一致，若有变更，应当经过所在专业及系（院）主管领导审批后方可重新填写。4任务书内有关“学院”、“专业”等名称的填写，应写中文全称，不能写数字代码。学生的“学号”要写全号，不能只写最后2位或1位数字。 5任务书内“主要参考文献”的填写，应按照金陵科技学院本科毕业设计（论文）撰写规范的要求书写。 6有关年月日等日期的填写，应当按照国标GB/T 740894数据元和交换格式、信息交换、日期和时间表示法规定的要求，一律用阿拉伯数字书写。如“2002年4月2日”或“2002-04-02”。毕 业 设 计（论 文）任 务 书1本毕业设计（论文）课题应达到的目的： 智能助行机器人主要针对行走不便、视弱、盲人等的老年人和残疾人，以日常生活和工作所需要的行走辅助为主要目标。助行机器人样机不但广泛应用与医院和疗养院，也常常作为家庭老人和残疾人的康复设备。逐渐发展起来的中国老年人用品市场与欧美市场形成相当的反差，老年人助行器的开发与设计刚刚开始，尚处于培育期，其中很多是普遍适用型产品，真正为老年人量身定做的助行器种类很少，生产厂家较少，产品种类缺乏，现有产品的安全性与使用效果都很难达到老年人要求，与国外日美韩相比仍有较大差距。 针对目前国内外助行机器人的重量过大、承载能力、不能适应室内/室外多种地面、辅助导航系统昂贵等不足，要求设计出可适应室内/室外等环境、便携式的智能助行机器人样机，智能助行机器人以工控机为控制核心，加以电源电路、机电驱动、光电传感电路、通信系统以及其它电路构成。电源电路提供系统所需的工作电源,专用电机驱动芯片驱动电机控制小车的前后移动和左右转向。光电传感电路完成循迹和避障以及幸存者与现场探测。通讯系统负责完成前方与后方之间的双向信息交流。 2本毕业设计（论文）课题任务的内容和要求（包括原始数据、技术要求、工作要求等）： 任务内容和要求如下:助行机器人拟采用便携式助行器机构设计，采用人体工学的机构优化设计、材料的轻型化选择，实现机构的便携性。适用于室内/室外多种地面的移动模式：采用传感器检测路面的角度和轮速的变化，进而控制驱动轮的力矩和速度，无论在室内的平整路面，还是在室外的起伏路面，用户均能获得平稳的行走体验和高效的能源效率；自定位与导航技术：围绕结构化或半结构化的复杂环境中移动式助老/助残机器人的自定位和导航难题，研究基于多传感器（激光雷达、红外测距、视觉和GPS 等）的环境识别与建模方法、基于地图匹配的自定位方法、基于路标（红外信标、RFID 等）的自定位和导航方法； 健康监测与报警系统：可以对操作者的健康状态进行实时监测和记录，以无线方式 将用户信息及时传送给监护人或医疗中心，并在操作者发生意外时自动报警；在一定区域内具有自主导航功能，并可以由监护人或医疗中心对操作者进行远距离实时监护，进行遥操作控制，进行健康指导。要求用Creo软件完成机器人的机械系统设计，设计出机器人的行走机构、车体、底盘以及操控装置等全部主体构件。确定机器人的总体设计方案。从整体上对机器人机械设计的特点和局部结构相关元件的选择进行研究。根据环境的要求、负载能力，利用现代机械设计方法，通过比较各种传动方式的优缺点，利用Creo软件设计导盲小车的机械结构，经过分析，设计出实际样机。毕 业 设 计（论 文）任 务 书3对本毕业设计（论文）课题成果的要求包括图表、实物等硬件要求：学会查找科技文献、相应的技术资料，通过论证及计算，得出最优的设计方案。1、设计说明书1份，且要符合规范要求；2、用Creo绘制机器人机械系统图样；3、相关图纸一套(包括装配图, ,零件图等)；4、设计软件（控制程序）一套；5、英语科技文献翻译并附原文。 4主要参考文献： 1 钱善华等 救灾机器人的研究现状与煤矿救灾的应J. 机器人 2006(5)2 朱斌等 煤矿探测救援机器人研究现状及其应用J 机电产品开发与创新 2013(11) 3 宋永端 主编.移动机器人及其自主化技术M.北京：机械工业出版社 20124 Gordon McComb 著.机械人设计与实现M.北京：科学出版社 20085 方芳 助行机器人运动控制系统设计D. 学位论文 2010 6 陈秉铭等. Pro/Engineering Wildfire 5.0 高级设计M. 人民邮电出版社7 平伟. 智能助行机器人概念样机设计D: 硕士学位论文 上海:上海交通大学，20098 狄子健.基于Pro/E的减速器产品参数化设计D: 硕士学位论文.大连:大连理工大学，2008 9 谢存禧，张铁机器人技术及其应用机械工业出版社，200510 丁化成，耿德根，李君凯AVR单片机应用设计M北京航空航天大学出版社，200211 曾婧婧.杨平.徐春梅.蒋式勤.彭道刚机器导盲犬的设计与实现J 机电一体化2005,11(4)12 Parametric Technology Corporation Pro/TOOLKIT Users，Guide. Massachusetts，PTC 200113 王岚，赵丹，隋立明机电系统计算机控制M哈尔滨工程大学出版社，200614 叶涛基于传感器信息的移动机器人导航与控制研究D.学位论文北京：中国科学院研究生院。200315 李益民.机械制造工艺设计简明手册M. 北京.机械工业出版社 16 陈立德.机械装备设计M高等教育出版社 17 李雯雯. 基于多种传感器的自动导航小车避障的研究D.学位论文西安：西安科技大学 2008 18 罗志增，蒋静坪机器人感觉与多信息融合M北京：机械工业出版社，200319 韩雪峰. 导盲机器人D.学位论文哈尔滨：哈尔滨工程大学 200920 平 伟. 智能助行机器人概念样机设计D.学位论文. 上海：上海交通大学 2009毕 业 设 计（论 文）任 务 书5本毕业设计（论文）课题工作进度计划：起 迄 日 期工 作 内 容2016-2-22至2016-3-102016-3-11至2016-3-172016-3-18至2016-3-312016-4-1至2016-4-7 2016-4-8至2016-4-212016-4-22至2016-5-102016-5-11至2016-5-172016-5-18课题实习收集整理有关技术资料，完成开题报告、外文翻译等熟悉设计软件使用，完成论文大纲等。掌握总体设计要求，进行分析研究，建立导盲小车的概念模型，拿出总体设计方案。机构设计的详细设计。零件图、部件图与总装配图检查修改，编写设计计算说明书毕业答辩所在专业审查意见： 通过 负责人： 2015 年 12 月 23 日毕 业 设 计（论 文）开 题 报 告 设计（论文）题目：智能助行机器人设计行走机构与机械系统设计 学生姓名： 年 月 日 开题报告填写要求 1开题报告（含“文献综述”）作为毕业设计（论文）答辩委员会对学生答辩资格审查的依据材料之一。此报告应在指导教师指导下，由学生在毕业设计（论文）工作前期内完成，经指导教师签署意见及所在专业审查后生效；2开题报告内容必须用黑墨水笔工整书写或按教务处统一设计的电子文档标准格式打印，禁止打印在其它纸上后剪贴，完成后应及时交给指导教师签署意见；3“文献综述”应按论文的框架成文，并直接书写（或打印）在本开题报告第一栏目内，学生写文献综述的参考文献应不少于15篇（不包括辞典、手册）；4有关年月日等日期的填写，应当按照国标GB/T 740894数据元和交换格式、信息交换、日期和时间表示法规定的要求，一律用阿拉伯数字书写。如“2004年4月26日”或“2004-04-26”。5、开题报告（文献综述）字体请按宋体、小四号书写，行间距1.5倍。 毕 业 设 计（论文） 开 题 报 告 1结合毕业设计（论文）课题情况，根据所查阅的文献资料，每人撰写不少于1000字左右的文献综述： 1.课题背景意义按照联合国教科文组织对对老龄化社会的划分标准，当前中国已进入快速老龄化阶段。在这一阶段，中国平均每年将新增596万老年人口，年增长速度达到3.25%，到2020年，老年人口将达到2.48亿，其中80岁及其以上老年人口将达到3067万人。伴随老龄化过程最为显著的特征就是由于身体机能衰退而引起的行走能力的下降，这严重影响了老年人的日常生活质量。智能助行机器人主要针对行走不便、视弱、盲人等的老年人和残疾人，以日常生活和工作所需要的行走辅助为主要目标，提供智能的行走辅助进而维持甚至强化其行走能力，使其能摆脱他人搀扶，实现安全独立的行走，并非作为一个代步工具取代其行走能力。助行机器人样机不但广泛应用与医院和疗养院，也常常作为家庭老人和残疾人的康复设备，预防其下肢肌肉老损或坏死。2.国内外发展状况逐渐发展起来的中国老年人用品市场与欧美市场形成相当的反差，老年人助行器的开发与设计刚刚开始，尚处于培育期，其中很多是普遍适用型产品，在行走技术领域，需要解决移动灵活性、能源高效化、多种路面实用性等技术难题，真正为老年人量身定做的助行器种类很少，生产厂家较少，产品种类缺乏，现有产品的安全性与使用效果都很难达到老年人要求，与国外日美韩相比仍有较大差距。由韩国2004年研发的WAR助行机器人主要帮助老年人户外行走的步行机器人，不仅具有辅助支撑和行走的功能，还具有升降结构。升降机构是倾斜上升，可以减少户外站立时膝盖负载，对一些体力不足的老年人特别有用。这个样机还带有供人依靠的支撑垫，可以支撑用户的身体，保护用户安全。WAR宽度为0.78m，刚还穿过一般的家庭用门，机器人高度为1m，并且可以调整。WAR可以通过传感器辨认出用户的行走意图，还具有定位和导航辅助功能。机器人还具有障碍物检测避让功能，且界面友好，通过触摸手柄让感知用户意图。针对目前国内外助行机器人的重量过大、承载能力、不能适应室内/室外多种地面、辅助导航系统昂贵等不足，要求设计出可适应室内/室外等环境、便携式的智能助行机器人样机，智能助行机器人以工控机为控制核心，加以电源电路、机电驱动、光电传感电路、通信系统以及其它电路构成。从整体上对机器人机械设计的特点和局部结构相关原件的选择进行研究。根据作业环境的要求、负载 能力，利用现代机械设计方法，通过比较各种传动方式的优缺点，按从下到上的顺序相对独立地利用Pro/E设计助行机器人的机构。电源电路提供系统所需的工作电源,专用电机驱动芯片驱动电机控制小车的前后移动和左右转向。光电传感电路完成循迹和避障以及幸存者与现场探测。通讯系统负责完成前方与后方之间的双向信息交流。智能助行机器人设计的关键点为移动平台设计、人机交互系统设计、感知系统设计与运动控制算法设计。其中运动控制算法设计的关键点是识别用户的行走意图、环境信息的融合以及学习用户的操作习惯。 参考文献：1 钱善华等 救灾机器人的研究现状与煤矿救灾的应J. 机器人 2006(5)2 朱斌等 煤矿探测救援机器人研究现状及其应用J 机电产品开发与创新 2013(11) 3 宋永端 主编.移动机器人及其自主化技术M.北京：机械工业出版社 20124 Gordon McComb 著.机械人设计与实现M.北京：科学出版社 20085 方芳 助行机器人运动控制系统设计D. 学位论文 2010 6 陈秉铭等. Pro/Engineering Wildfire 5.0 高级设计M. 人民邮电出版社7 平伟. 智能助行机器人概念样机设计D: 硕士学位论文 上海:上海交通大学，20098 狄子健.基于Pro/E的减速器产品参数化设计D: 硕士学位论文.大连:大连理工大学，2008 9 谢存禧，张铁机器人技术及其应用机械工业出版社，200510 丁化成，耿德根，李君凯AVR单片机应用设计M北京航空航天大学出版社，200211 曾婧婧.杨平.徐春梅.蒋式勤.彭道刚机器导盲犬的设计与实现J 机电一体化2005,11(4)12 Parametric Technology Corporation Pro/TOOLKIT Users，Guide. Massachusetts，PTC 200113 王岚，赵丹，隋立明机电系统计算机控制M哈尔滨工程大学出版社，200614 叶涛基于传感器信息的移动机器人导航与控制研究D.学位论文北京：中国科学院研究生院。2003 15 李益民.机械制造工艺设计简明手册M. 北京.机械工业出版社 16 陈立德.机械装备设计M高等教育出版社 17 李雯雯. 基于多种传感器的自动导航小车避障的研究D.学位论文西安：西安科技大学 2008 18 罗志增，蒋静坪机器人感觉与多信息融合M北京：机械工业出版社，200319 韩雪峰. 导盲机器人D.学位论文哈尔滨：哈尔滨工程大学 200920 平 伟. 智能助行机器人概念样机设计D.学位论文. 上海：上海交通大学 2009毕 业 设 计（论文） 开 题 报 告 2本课题要研究或解决的问题和拟采用的研究手段（途径）： 需要研究行动平台的结构和机械系统的设计。根据设计题目的要求，分析助行机器人的机构与设计，使材料的轻型化来实现机构的便携性。通过上网查资料和询问老师，用Creo软件完成机器人的机械系统设计，设计出机器人的行走机构、车体、底盘以及操控装置等全部主体构件。制作出设计说明书1份，用Creo绘制的机器人机械系统图样；相关图纸一套(包括装配图, 零件图等)。毕 业 设 计（论文） 开 题 报 告 指导教师意见：1对“文献综述”的评语： 阅读了一些本领域相关专业文献资料，了解了本课题的进展情况，要进一步研读有关文献参考资料，加深对课题的理解。 2对本课题的深度、广度及工作量的意见和对设计（论文）结果的预测： 机器人（车）是一个典型的机电一体化产品，涉及机械、自动控制、计算机等多学科知识，通过综合应用各学科知识，可设计出适用于残疾人使用的实用产品。要进一步明确研究设计的内容及有效手段。 3.是否同意开题： 同意 不同意 指导教师： 2016 年 03 月 09 日所在专业审查意见：同意 负责人： 2016 年 04 月 05 日毕 业 设 计（论 文）外 文 参 考 资 料 及 译 文译文题目： Robots 机器人 学生姓名：专 业：所在学院：指导教师：职 称：RobotsFirst, I explain the background robots, robot technology development. It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the countrys economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the worlds understanding and transformation of this technology as well as people in the development process of an objective need. Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide. Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now I have a brief account of Chinas robot development of the basic profiles. As our country there are many other factors that problem. Our country in robotics research of the 20th century the late 1970s. At that time, we organized at the national, a Japanese industrial automation products exhibition. In this meeting, there are two products, is a CNC machine tools, an industrial robot, this time, our countrys many scholars see such a direction, has begun to make a robot research But this time, are basically confined to the theory of phase .Then the real robot research, in 7500 August 5, 1995, 15 nearly 20 years of development, The most rapid development, in 1986 we established a national plan of 863 high-technology development plan, As robot technology will be an important theme of the development of The state has invested nearly Jiganyi funds begun to make a robot, We made the robot in the field quickly and rapid development.At present, units like the CAS ShenYng Institute of Automation, the original machinery, automation of the Ministry, as of Harbin Industrial University, Beijing University of Aeronautics and Astronautics, Qinghua University, Chinese Academy of Sciences, also includes automation of some units, and so on have done a very important study, also made a lot of achievements Meanwhile, in recent years, we end up in college, a lot of flats in robot research, Many graduate students and doctoral candidates are engaged in robotics research, we are more representative national study Industrial robots, underwater robots, space robots, robots in the nuclear industry are on the international level should be taking the lead .On the whole of our country Compared with developed countries, there is still a big gap, primarily manifested in the We in the robot industry, at present there is no fixed maturity product, but in these underwater, space, the nuclear industry, a number of special robots, we have made a lot of achievements characteristics.Now, I would like to briefly outline some of the industrial robot situation. So far, the industrial robot is the most mature and widely used category of a robot, now the worlds total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small. Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly. Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot. It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement. So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom. We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom. Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc. These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference. It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, etc. Its surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robots one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming. The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up. This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas. If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited. Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside. a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate. This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass surgery. This robot has in the area, caused a great sensation, but also, AESOPs surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery Robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctors movements linked, the doctor hands off, lighting went off, This is very good, a doctors assistant.We regard this country excel, it should be said that the United States, Russia and France, in our nation, also to the international forefront, which is the CAS ShenYang Institute of Automation of developing successful, 6,000 meters underwater without cable autonomous underwater robot, the robot to 6,000 meters underwater, can be conducted without cable operations. His is 2000, has been obtained in our country one of the top ten scientific and technological achievements. This indicates that our country in this underwater robot, have reached the advanced international level, 863 in the current plan, the development of 7,000 meters underwater in a manned submersible to the ocean further development and operation, This is a great vote of financial and material resources.In this space robotics research has also been a lot of development. In Europe, including 16 in the United States space program, and the future of this space capsule such a scheme, One thing is for space robots, its main significance lies in the development of the universe and the benefit of mankind and the creation of new human homes, Its main function is to scientific investigation, as production and space scientific experiments, satellites and space vehicles maintenance and repair, and the construction of the space assembly. These applications, indeed necessary, for example, scientific investigation, as if to mock the ground some physical and chemical experiments do not necessarily have people sitting in the edge of space, because the space crew survival in the day the cost is nearly one million dollars. But also very dangerous, in fact, some action is very simple, through the ground, via satellite control robot, and some regularly scheduled completion of the action is actually very simple. Include the capsule as control experiments, some switches, buttons, simple flange repair maintenance, Robot can be used to be performed by robots because of a solar battery, then the robot will be able to survive, we will be able to work, We have just passed the last robot development on the application of the different areas of application, and have seen the robots in industry, medical, underwater, space, mining, construction, service, entertainment and military aspects of the application .Also really see that the application is driven by the development of key technologies, a lack of demand, the robot can not, It is because people in understanding the natural transformation of the natural process, the needs of a wide range of robots, So this will promote the development of key technologies, the robot itself for the development of From another aspect, as key technology solutions, as well as the needs of the application, on the promotion of the robot itself a theme for the development of intelligent, and from teaching reappearance development of the current local perception of the second-generation robot, the ultimate goal, continuously with other disciplines and the development of advanced technology, the robot has become rich, eventually achieve such an intelligent robot mainstream.Robot is mankinds right-hand man; friendly coexistence can be a reliable friend. In future, we will see and there will be a robot space inside, as a mutual aide and friend. Robots will create the jobs issue. We believe that there would not be a robot appointment of workers being laid off situation, because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, to create a better spiritual wealth and cultural wealth.机器人首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么随着人类的发展，人们在不断探讨自然过程中，在认识和改造自然过程中，需要能够解放人的一种奴隶。那么这种奴隶就是代替人们去能够从事复杂和繁重的体力劳动，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个力操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种从第一代机器人，也就存在它这种缺陷，因此，在20世纪70年代后期，人们开始研究第二代机器人，叫带感觉的机器人，这种带感觉的机器人是类似人在某种功能的感觉，比如说力觉、触觉、滑觉、视觉、听觉和人进行相类比，有了各种各样的感觉，比方说在机器人抓一个物体的时候，它实际上力的大小能感觉出来，它能够通过视觉，能够去感受和识别它的形状、大小、颜色。抓一个鸡蛋，它能通过一个触觉，知道它的力的大小和滑动的情况。第三代机器人，也是我们机器人学中一个理想的所追求的最高级的阶段，叫智能机器人，那么只要告诉它做什么，不用告诉它怎么去做，它就能完成运动，感知思维和人机通讯的这种功能和机能，那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义，但真正完整意义的这种智能机器人实际上并没有存在，而只是随着我们不断的科学技术的发展，智能的概念越来越丰富，它内涵越来越宽。下面我简单介绍一下我国机器人发展的基本概况。由于我们国家存在很多其他的各种因素、问题。我们国家在机器人方面的研究是在20世纪70年代后期，当时我们在国家北京举办一个日本的工业自动化产品展览会，在这个会上有两个产品，一个是数控机床，一个是工业机器人，这个时候，我们国家的许多学者，看到了这样一个方向，开始进行了机器人的研究，但是这时候研究，基本上还局限于理论的探讨阶段，那么真正进行机器人研究的时候，是在七五、八五、九五、十五将近这二十年的发展，发展最迅速的时候，是在1986年我们国家成立了863计划是高技术发展计划，就将机器人技术作为一个重要的发展的主题，国家投入将近几个亿的资金开始进行了机器人研究，使得我们国家在机器人这一领域得到很快地、迅速地发展。目前主要单位像中科院沈阳自动化所，原机械部的北京自动化所，像哈尔滨工业大学，北京航空航天大学，清华大学，还包括中科院北京自动化所等等的一些单位都做了非常重要的研究工作，也取得了很多的成果，而且目前这几年来看，我们国家在高校里边，有很多单位从事机器人研究，很多研究生和博士生都在从事机器人方面的研究，目前我们国家比较有代表性的研究，有工业机器人，水下机器人，空间机器人，核工业的机器人，都在国际上应该处于领先水平，总体上我们国家与发达国家相比，还存在很大的差距，主要表现在，我们国家在机器人的产业化方面，目前还没有固定的成熟的产品，但是在上述这些水下、空间、核工业，一些特殊机器人方面，我们取得了很多有特色的研究成就。下边我简单介绍一下工业机器人的一些情况。到目前为止，工业机器人是最成熟，应用最广泛的一类机器人，世界总量目前已经销售110万台，这是1999年的统计，但这110万台在已经进行装备使用的是75万台，这个量也是不小的。总体情况看，日本在工业机器人这一块，是首位的，成为机器人的王国，美国发展也很迅速，目前在新安装的台数方面，已经超过了日本，中国刚开始进入产业化的阶段，已经研制出多种工业机器人样机