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中国地质大学长城学院 本科毕业设计外文资料翻译 系 别: 工程技术系 专 业: 机械设计制造及其自动化 姓 名: 刘建标 学 号: 05211608 2015 年 4 月 1 日 ABOUT MODERN INDUSTRIAL MANIPULATOR Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system. Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques. In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs. There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection. 关于 现代工业 自动抓取机构 机器人是典型的机电一体化装置,它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器 与信息处理以及人工智能等多学科的最新研究成果,随着经济技术的发展和各行各业对自动化程度要求的提高,机器人技术得到了迅速发展,出现了各种各样的机器人产品。现代工业机器人是人类真正的奇迹工程。一个像人那么大的机器人可以轻松地抬起超过一百磅并可以在误差 0.006 英寸内重复运动。更重要的是这些机器人可以每天 24 小时不停止地工作。在许多应用中他们是通过编程控制的,但是他们一旦编程一次,他们可以重复地做同一个工作许多年。机器人产品的实用化,既解决了许多单靠人力难以解决的实际问题,又促进了工业自动化的进程。 目前,由于 机器人的研制和开发涉及多方面的技术,系统结构复杂,开发和研制的成本普遍较高,在某种程度上限制了该项技术的广泛应用,因此,研制经济型、实用化、高可靠性机器人系统具有广泛的社会现实意义和经济价值。由于我国经济建设和城市化的快速发展,城市污染排水放量增长很快,污水处理已经摆在了人们的议事日程上来。随着科学技术的发展和人类知识水平的提高,人们越来越认识到污水处理的重要性和迫切性,科学家和研究人员发现塑料制品在水中时用于污水处理的很有效地污泥菌群的附着体。塑料制品的大量需求,使得塑料制品生产的自动化和高效率要求成为经 济发展的必然。本文结合塑料一次挤出成型机和塑料抓取自动抓取机构的研制过程中出现的问题,综述近几年机器人技术研究和发展的状况,在从分发挥机、电、软、硬件各自特点和优势互补的基础上,对物料抓取自动抓取机构整体机械结构、传动系统、驱动装置和控制系统进行了分析和设计,提出了一套经济型设计方案。采用直角坐标和关节坐标相结合的框架式机械结构形式,这种方式能够提高系统的稳定性和操作灵活性。传动装置的作用是将驱动元件的动力传递给机器人自动抓取机构相应的执行机构,以实现各种必要的运动,传动方式上采用结构紧

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