机械手外文翻译.doc

机械手工业机械手是近几十年发展起来的一种高科技自动化生产设备。工业机械手的是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。机械手是在机械化，自动化生产过程中发展起来的一种新型装置。在现代生产过程中，机械手被广泛的运用于自动生产线中，机械人的研制和生产已成为高技术邻域内，迅速发殿起来的一门新兴的技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然目前还不如人手那样灵活，但它具有能不断重复工作和劳动，不知疲劳，不怕危险，抓举重物的力量比人手力大的特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。现实生活中，在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危及生命。自从机械手问世以来，相应的各种难题迎刃而解。机械手可在空间抓、放、搬运物体，动作灵活多样，适用于可变换生产品种的中、小批量自动化生产，广泛应用于柔性自动线。机械手一般由耐高温，抗腐蚀的材料制成，以适应现场恶劣的环境，大大降低了工人的劳动强度，提高了工作效率。机械手是工业机器人的重要组成部分，在很多情况下它就可以称为工业机器人。工业机器人是集机械、电子、控制、计算机、传感器、人工智能等多学科先进技术于一体的现代制造业重要的自动化装备。广泛采用工业机器人，不仅可以提高产品的质量与产量，而且对保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手。机械手在锻造工业中的应用能进一步发展锻造设备的生产能力，改善热、累等劳动条件。研究机械手控制的目的是保持以计算机为基础的机械手的动态响应，以便与一些预先设定的系统性能和理想目标保持一致。一般情况下，机械手的动态性能直接依赖于控制算法的效率和机械手的动态模型。控制问题包括获得自然的机械手系统的动态模型，然后指定相应的控制规则或步骤以达到想要的系统响应和性能。目前的工业机械臂控制将每一个机械臂的联合看做一个简单的联合伺服。伺服方法不能充分地模仿不同的动力学机械手，因为它忽略了机械手整体的运动和配置。这些控制系统的参数的变化有时是足够重要，以至于使常规的反馈控制方法失效。其结果是减少了伺服响应的速度和阻尼，限制了精度和最终效应的速度，使系统仅适用于有限精度的工作。机械手以这种方式控制速度降低而没有不必要的震动。任何在这一领域和其它领域的机械臂性能增益要求更有效率的动态模型、精密的控制方法、专门的计算机架构和并行处理技术。机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。机械手一般分为三类：第一类是不需要人工操作的通用机械手。它是一种独立的不附属于某一主机的装置。它可以根据任务的需要编制程序，以完成各项规定的操作。它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能的三元机械。第二类是需要人工才做的，称为操作机。它起源于原子、军事工业，先是通过操作机来完成特定的作业，后来发展到用无线电讯号操作机来进行探测月球等。工业中采用的锻造操作机也属于这一范畴。第三类是用专用机械手，主要附属于自动机床或自动线上，用以解决机床上下料和工件送。这种机械手在国外称为“Mechanical Hand”，它是为主机服务的，由主机驱动；除少数以外，工作程序一般是固定的，因此是专用的。在国外，目前主要是搞第一类通用机械手，国外称为机器人。1简史机械手首先是从美国开始研制的。1958年美国联合控制公司研制出第一台机械手。它的结构是：机体上安装一个回转长臂，顶部装有电磁块的工件抓放机构，控制系统是示教形的。1962年，美国联合控制公司在上述方案的基础上又试制成一台数控示教再现型机械手。商名为Unimate万能自动）。克炮塔，臂可以回转、俯仰、伸缩、用液压驱动；控制系统用磁鼓作为存储装置。不少球坐标通用机械手就是在这个基础上发展起来的。同年该公司和普鲁曼公司合并成立万能自动公司，专门生产工业机械手。1962年美国机械制造公司也实验成功一种叫Vunimatean机械手。该机械手的中央立柱可以回转、升降采用液压驱动控制系统也是示教再现型。虽然这两种机械手出现在六十年代初，但都是国外工业机械手发展的基础。1978年美国Unimate公司和斯坦福大学，麻省理工学院联合研制一种Unimate-Vicarm型工业机械手，装有小型电子计算机进行控制，用于装配作业，定位误差小于1毫米。联邦德国机械制造业是从1970年开始应用机械手，主要用于起重运输、焊接和设备的上下材等作业。联邦德国KnKa公司还生产一种点焊机械手，采用关节式结构和程序控制。日本是工业机械手发展最快、应用最多的国家。自1969年从美国引进两种机械手后大力从事机械手的研究。前苏联自六十年代开始发展应用机械手，至1977年底，其中一半是国产，一半是进口。目前，工业机械手大部分还属于第一代，主要依靠工人进行控制；改进的方向主要是降低成本和提高精度。第二代机械手正在加紧研制。它设有微型电子计算控制系统，具有视觉、触觉能力，甚至听、想的能力。研究安装各种传感器，把感觉到的信息反馈，是机械手具有感觉机能第三代机械手则能独立完成工作中过程中的任务。它与电子计算机和电视设备保持联系，并逐步发展成为柔性制造系统FMS和柔性制造单元FMC中的重要一环。2应用简况现代工业中，生产过程的机械化，自动化已成为突出的主题。化工等连续性生产过程的自动化已基本得到解决。但在机械工业中，加工、装配等生产是不连续的。因此，装卸、搬运等工序机械化的迫切性，工业机械手就是为实现这些工序的自动化而产生的。有资料统计：美国偏重于毛坯生产，日本偏重于机械加工。随着机械手技术的发展，应用的对象还会有所改变。机械手在锻造工业中的应用能进一步发展锻造设备的生产能力，改善热、累等劳动条件。国内机械手工业、铁路工业中首先在单机、专机上采用机械手上下料，减轻工人的劳动强度。国外铁路工业中应用机械手以加工铁路车轴、轮等大、中批零件。并和机床共同组成一个综合的数控加工系统。采用机械手进行装配更始目前研究的重点，国外已研究采用摄象机和力传感装置和微型计算机连在一起，能确定零件的方位达到镶装的目的。3发展趋势目前工业机械手主要用于机床加工、铸造、热处理等方面，无论数量、品种和性能方面还是不能满足工业发展的需要。在国内主要是逐步扩大应用范围，重点发展铸造、热处理方面的机械手，以减轻劳动强度，改善作业条件，在应用专用机械手的同时，相应的发展通用机械手，有条件的还要研制示教式机械手、计算机控制机械手和组合机械手等。将机械手各运动构件，如伸缩、摆动、升降、横移、俯仰等机构以及根据不同类型的加紧机构，设计成典型的通用机构，所以便根据不同的作业要求选择不同类型的基加紧机构，即可组成不同用途的机械手。既便于设计制造，有便于更换工件，扩大应用范围。同时要提高速度，减少冲击，正确定位，以便更好的发挥机械手的作用。此外还应大力研究伺服型、记忆再现型，以及具有触觉、视觉等性能的机械手，并考虑与计算机连用，逐步成立整个机械制造系统中的一个单元。在国外机械制造业中工业机械手应用较多，发展较快。目前主要用于机床、横锻压力机的上下料，以及点焊、喷漆等作业，它可按照事先指定的作业程序来完成规定的操作。此外，国外机械手的发展趋势是大力研制具有某种智能的机械手。使它具有一定的传感能力，能反馈外界条件的变化，作相应的变更。如位置发生稍许偏差时，即能更正并自行检测，重点是研究视觉功能和触觉功能。目前已经取得一定成绩。视觉功能即在机械手上安装有电视照相机和光学测距仪（即距离传感器）以及微型计算机。工作是电视照相机将物体形象变成视频信号，然后送给计算机，以便分析物体的种类、大小、颜色和位置，并发出指令控制机械手进行工作。触觉功能即是在机械手上安装有触觉反馈控制装置。工作时机械手首先伸出手指寻找工作，通过安装在手指内的压力敏感元件产生触觉作用，然后伸向前方，抓住工件。手的抓力大小通过装在手指内的敏感元件来控制，达到自动调整握力的大小。总之，随着传感技术的发展机械手装配作业的能力也将进一步提高。更重要的是将机械手、柔性制造系统和柔性制造单元相结合，从而根本改变目前机械制造系统的人工操作状态。随着科学技术的发展，机械手也越来越多的地被应用。在机械工业中，铸、焊、铆、冲、压、热处理、机械加工、装配、检验、喷漆、电镀等工种都有应用的实理。其他部门，如轻工业、建筑业、国防工业等工作中也均有所应用。在机械工业中，应用机械手的意义可以概括如下：一是以提高生产过程中的自动化程度。二是以改善劳动条件，避免人身事故。三是可以减轻人力，并便于有节奏的生产。综上所述，有效的应用机械手，是发展机械工业的必然趋势。ManipulatorRobotic arm industrial robot was developed in recent decades a high-tech automated production equipment. Industrial manipulator is an important branch of the industrial robots. It features can be programmed to complete a variety of expected job tasks, and on the structure and performance of the machine with the advantages, particularly human intelligence and adaptability. Manipulator in the accuracy of the job, and a variety of environments the ability to complete the job, in all areas of national economy has a broad development prospects.Manipulator is mechanized, automated production processes in the development of a new type of device. In modern production process, the manipulator is widely used in automatic production line of robots that development and production has become a high-tech in the neighborhood of, speedy Temple made up of a new technology, which promote the development of a manipulator, manipulators can be better achieved with the combination of mechanization and automation. As flexible manipulator despite lessmanpower, but it has to keep duplicate work and labor, I do not know fatigue, not afraid of danger snatch weight characteristics than the staffing strength of the power of, so the manipulator has been subject to many sectors of importance to, and has been applied more and more widely. Manipulator technologies involving mechanics, mechanics, electrical and hydraulic technology, automation technology, sensor technology and computer science, is a cross-discipline integration technology. Manipulator is an automatic position control and can be re-editing program to change machine, it has multiple degrees that can be used to carry objects to complete the work in a different environment. In real life, in industrial production and other areas, because of work needs, people are often affected by factors such as high temperature, corrosive and toxic gas hazards, increases the labor intensity of workers, and even life-threatening. Since the since the development of manipulator, corresponding with various problems solved. Manipulator in the space grasping, and handling objects that movements are flexible and diverse, applies to the transformations in the production of varieties, small batch automation, widely used in flexible automatic production line. Manipulator is high temperature, corrosion-resistant materials, to adapt to the harsh environment, greatly reducing the labor intensity of workers, improve the efficiency. Manipulator is an important part of industrial robots, in many cases it can be referred to as industrial robots. Industrial robot is a mechanical, electrical, control, artificial intelligence, computers, sensors and other multidisciplinary advanced technology in one of the important modern manufacturing automation equipment. Extensive use of industrial robots, not only can improve the product quality and productivity, and to protect the personal safety, improve the working environment, reduce labor intensity and increase the productivity, conservation of raw materials consumption and lower production costs, has a very important significance.Attachment of the manipulator is often used as a machine or other machines, such as loading and unloading in automatic machine tool or automatic production lines and transfer workpieces, replace the cutter in machining center, generally do not have separate control unit. Some operations unit that requires direct manipulation, as used in the atomic energy sector Additionally hazardous materials hands of master-slave operation is often called a manipulator. Manipulators in forging industry in further development and application of forging equipment production capacity, improved working conditions such as heat, tired.Research of manipulator control purposes is to maintain dynamic response based on the computer manipulator, to some pre-programmed consistent system performance and the desired objectives. Under normal circumstances, manipulators dynamic performance directly depends on efficiency and robot control algorithm of dynamic models. Control of manipulator system dynamic model including access to natural, and then specify the appropriate control rules or steps to achieve the desired system response and performance. Current industrial manipulator control each a joint as a simple joint servo Manipulator. Not adequately mimic the different dynamics of manipulator servo method, because it ignores the overall motion of manipulator and configuration. The control system of parameters changes sometimes is important enough, that enables regular feedback control method fails. As a result, reduces the servo response of velocity and damping, limit the speed of precision, and the final effect, the system applies only to the limited precision of work. Manipulator control speed down this way without unnecessary shock. Any in this area and other areas of the manipulator performance gains more efficient, specialized, precision control methods of dynamic model of computer architecture and parallel processing technology. Manipulator type classified according to the driving mode of hydraulic, pneumatic, electric, mechanical manipulator; classified according to the scope of both special manipulator and universal manipulator; by trajectory control can be divided into position control and continuous trajectory control robot. Manipulator is generally divided into three classes: first class is universal manipulator without human action. It is a device independent are not attached to a host. It can tasks require programming, to complete the operation of the various provisions. It is characterized by normal mechanical performance, but also have intelligent ternary machinery General machinery, memory. Second is the need to make only artificial, known as operation. It originated in the atom, military industry, first by operation machines to complete a particular job, later developed to explore the moon with radio signal operating machine. Forging manipulator used in industrial machines also fall into this category. Special manipulator for third class was mainly on the lines attached to the automatic machine tool or automatically, to resolve the machine loading and unloading and parts sent. This manipulator in a foreign country is called the Mechanical Hand, which is to host services, driven by the host; not including minority, work procedures are generally fixed, so are private. In other countries, currently mainly engage in universal manipulator of the first kind, called robots abroad. 1. a brief historyfirst of all, a brief history of manipulator is from the United States started to develop. 1958 United States joint control company developed the first robot. Its structure is: install a rotating body long arms, grab-and-drop body equipped with electromagnetic block at the top of the workpiece, is a demonstration of control system. In 1962, the United States on the basis of joint control in the above scenario and trial production into a CNC teaching-playback-Manipulator. Called Unimate universal automatic). G turret, Rotary, pitching, telescopic, using hydraulic arms can drive; control system with a magnetic drum as the storage device. Many spherical coordinates is developed on the basis of universal Manipulator. In the same year the company and pulu Manchester merger set up universal automatic company, specializing in industrial Manipulator. 1962 United States experimental success a machinery manufacturing company called Vunimatean Manipulator. The central column can be Rotary, lifting hydraulic manipulator driving control system is also teaching-playback. Although the two manipulator appears in the early 60 s, but they are a basis for the development of foreign industrial Manipulator. 1978 United States Unimate company and Stanford University, Massachusetts Institute of technology jointly developed a Unimate-Vicarm industrial manipulator, with a small computer controlled for Assembly, positioning error of less than 1 mm. Federal Germany machinery manufacturing industry is applied from the 1970 manipulators, welding and mainly used for lifting and transportation, equipment, and other operations. Federal Germany KnKa company also produces a spot welding manipulators, articulated structure and program control. Japan is the country with the most fastest growing industrial manipulator, application. Since 1969, from the United States after the introduction of two manipulator vigorously engaged in the research of Manipulator. Application development of the former Soviet Union since the beginning of 60 manipulator, until the end of 1977, half of whom are domestic, half is imported. At present, most belong to the first generation of industrial manipulator, rely mainly on the control workers; improved mainly in the direction of reducing costs and improving accuracy. Second generation robotic arm is stepping up its development. It has a micro-computer control system, with a Visual, tactile, or even the ability to hear, want to. Research various sensor installed, feedback feel, is the third generation robot manipulators with sensory function tasks that you can work independently in procedure. It kept in touch with computer and television equipment, and gradually developed into a flexible manufacturing system FMS flexible manufacturing cells and essential part of FMC. 2. brief introductionbrief introduction of application of modern industry, the production process of mechanization, automation has become a prominent theme. Chemical continuity automation of the production process has largely been resolved. But in the machinery industry, processing and Assembly of such production is not continuous. Therefore, the urgency of mechanization in loading and unloading, handling and other processes, industrial manipulator is to automate these processes. Statistics: United States biased toward blanks production, Japan heavily machined. With the development of robot technology, application object will also change. Manipulators in forging industry in further development and application of forging equipment production capacity, improved working conditions such as heat, tired. Domestic robotics industry, railway industry first single, on a special plane manipulator in loading and unloading, reduce the labor intensity of workers. Foreign application in railway industry manipulator with processing of railway axles, wheels and other large, granted in part. And NC machining and machine tool comprising an integrated system. Manipulator for Assembly renewal of current research focus abroad have used cameras and force sensing device and microcomputers linked together, have determined that a part of the purpose of azimuth reached set loaded. 3. the main development trendthe main development trend of industrial manipulator used in machining, casting, heat treatment and so on, regardless of the number, variety and performance still cannot meet the needs of industrial development. In major is gradually expanding the scope of application, focus on the development of manipulator for casting, heat treatment, to reduce the labor intensity, improve working conditions, in addition to application special manipulator, the corresponding development of universal manipulator, also to the conditions of development of teaching combination of robotics, computer controlled manipulator and Manipulator. The motion of the manipulator Widget, such as Flex, swing, lift, traverse, elevation, and other institutions as well as the different type of stepping up establishment, designed as a typical General Agency, so it under a different job to choose different type of groups to intensify their bodies, composed of manipulators for different purposes. Both for design and manufacturing, is easy to change work, extending the scope of application. At the same time to increase speed, reduce the impact, correctly positioned in order to better play the role of Manipulator. Should also vigorously study on servo-type representation, memory, and manipulator with a tactile, Visual, performance, and taking into account the use of your computer, and gradually set up a cell in a machinery manufacturing system as a whole. Industrial manipulator application in mechanical manufacturing industry in foreign countries, and rapid development. Currently mainly used for loading and unloading of machines, horizontal forging machines, as well as spot welding, paint job, it may, in accordance with the operating procedures specified in advance to complete the assigned actions. In addition, the manipulator abroad development trend is to develop some kind of Intelligent Robotics. It has ability of sensing, feedback changes in external conditions, make the changes. When small deviations occur such as location, is able to correct and make their own testing, focuses on Visual and tactile features. Certain ac