外文翻译--工业机器人.doc

Robotthe industrial robot is a tool that is used in the manufacturing environment to increase productivity.It can perform jobs that mights be hazardous to the human worker.One of the first industrial robots was used to replace the nuclear power plants.The industrial robot can also operate on the assembly line such as placing electronic components on a printed circuit board .Thus ,the human worker can be relieved of the routine operation of this tedious task .Robots can also be programmed to defuse bombs,to serve the handicapped ,and to perform functions in numerous applications in our society.A robot is a reprogrammable,multifunctional manipulator designed to more parts,materials tools or special devices through variable pregrammed locations for the performance of a variety of different tasks.Preprogrammed locations are paths that the robot must follow to accomplish work.At some of these locations ,the robot will stop and perform some operation,such as assembly of parts,spray painting,or welding.These ppreprogrammed locations are stored in the robots memory and are recalled later for continous operation.Furthermore,these preprogrammed locations,as well as other program data,can be changed later as the work requirements change .Thus ,with regard to this programming feature,an industrial robot is very much like a computer.The robotic system can also control the work cell of the operating robot.The work cell of the robot is the total enviroment in which the robot must perform its task.Included within this cell may be the robot manipulator,controller,a work table ,safety features,or a conveyor.In addition, signals from outside device can communicate with the robot.The manipulator,which does the physical work of the robotic system,consists of two sections:the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached.The base of the manipulator is usually fixed to the floor of the work area.Sometimes,through,the base may be movable.In this case,the base is attached to either a rail or a track,allowing the manipulator to be moved from one location to another.the manipulator is mainly composed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according to is grasped holds the thing shape, the size, the weight, the material and the work request has many kinds of structural styles, like the clamp, the request hold and the adsorption and so on. The motion, causes the hand to complete each kind of rotation (swinging), the migration or the compound motion realizes the stipulation movement, changes is grasped holds the thing position and the posture. Motions fluctuation, the expansion, revolving and so on independence movement way, is called manipulators degree-of-freedom. In order to capture in the space the optional position and the position object, must have 6 degrees-of-freedom. The degree-of-freedom is the key parameter which the manipulator designs. The degree-of-freedom are more, manipulators flexibility is bigger, the versatility is broader, its structure is also more complex. Generally the special-purpose manipulator has 23 degrees-of-freedom.The appendage is the arm of the robot.It can be either a straight,movable arm or a jointed arm and gives the manipulator its various axes of motion.The jointed arm is also known as an articulated arm.At the end of the arm,a wrist is connected.The wrist is made up of additional axes and a wrist flange.The wrist flange allows therobot user to connectdifferent tooling to the wrist for different jobs.The manipulatorsaxes allow it to perform work within acertain area.This area is called the work cell of the robot,and its size corresponds to the size of the manipulator.As the robotphysical size increases,the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system can use electric,hydraulic,or pneumatic power.The energy developed by the drive system is convered to mechanical power by various mechanical drive systems.The drive systems are coupled through mechanical linkages.These linkages,in turn,drive the different axes of the robot. The mechanical linkages may be composed of chains,geas,and ball screws.The controller is used to control the robot manipulatormovements as well as to control peripheral components within the work cell.The user can program themovements of the manipulator into the controller through the use of a hand-held teach pendant.This information is stored in the memory of the controller for later recall.The controller is also required to communicate with peripheral equipment within the work cell.For example,a controller has an input line.When the machine cycle is completed,the input line turns on ,telling the controller to position the manipulator so that it can pick up the finished part.Then ,a new part is picked up by the manipulator and placed into the machine.Next,the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events.This type of controller operates with simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics.That is,they are microprocessor-operated.This power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines.This two- way communication between the robot manipulator and the controller maintains a constant update of the location and the operation of the system.The controller also has the job of communicating with the different plant computer.The communication link establishes the robot as part of a computer-assisted manufacturing(CAM)system.The microprocessor-based systems operate in conjunction with solid-state memory devices.These memory devices may be magnetic bubbles,random-access memory,floppy disk,or magnetic tape.The power supply is the unit that supplies power to the controller and the manipulator.Two types of power are delived to the robotic system.One type of power is the Acpower for operation of the controller.The other type of power is used for driving the various axes of the manipulator.For example,if the robot manipulator is controlled by hydraulic or pneumatic drives,control signals are sent to these devices,causing motion of the robot.Industrial robots vary widely in size ，shape，number of axes，degrees of freedom，and design configuration .Each factor influences the dimensions of the robots working envelop or the volume of space within which it can move and perform its designated task.A broader classification of robots can been described as below.Fixed-and Variable-Sequence Robots .The fixed-sequence robot(also called a pick-and place robot)is programmed for a specific sequence of operqtions.Its movements are from point to point ,and the cycle is repeated continuously.The variable-sequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation.Playback Robot.An operator leads or walks the playback robot and its end effector through the deired path .The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled Robot.The numerically cantrolled robot is programmed and operated much like a numerically controlled machine .The robot is servocontrolled by digital data ,and its sequence of movements can be changed with relative ease.Intelligent Robot.3The intelligent robot is capable of performing some of the functions and tasks carried out by human beings .It is equipped with a variety of sensors with visual and tactile capabilities. 机器人工业机器人是一种提高制造业生产力的工具，它可以承担那些对人类可能有危险的工作。如安装印刷电路板上的电子元器件。这样，人们九可以从单调的工作中解脱出来。机器人还能拆除炸弹，为伤残人服务，为我们的社会做各种各样的工作。机器人是一个可以重复编程的、多功能的工作机构，可以在各个预编程位置移动零件、材料、工具或其他特殊装置，完成各种不同的工作。预编程位置是指机器人完成工作时必须遵循的路径。在某些预编程位置，机器人会停下来进行一些操作，例如安装零件、喷漆或焊接。这些预编程位置存储在机器人的存储器中以便随时调出进行连续的操作。如果工作要求改变了，这些预编程位置连同其他的编程数据也能随之改变。这些编程特征使得工业机器人与计算机非常类似。机器人系统可以控制工作机器人的工作单元。机器人的工作单元是机器人执行任务时的工作环境，工作单元包括机器人的机械手、控制台、工作台、安全装置机器传动装置。此外，机器人应该能与外界信号进行交流。机械人的机械手完成机器人系统的具体工作，它包括两个部分：机械部分和附属部分。附属部分安装在机械手的基座上。机座固定在工作现场的地板上。但有时机座也是可以移动的，在这种情况下，机座安放在轨道上，用于把机械手从一个位置移到另一个位置。机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度 。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机 械手设计的关 键参数。自由 度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有23个自由度。 附属部分是机器人的手臂。它可能是一个直的可以移动的手臂，也可能是一个铰链手臂，为机械手提供多根工作轴。铰接的手臂也就是有关节连接的手臂。手臂的端部连有一个手腕，手腕装在另一根轴上并装有法兰盘。在法兰盘上可以连接不同的工具完成不同的工作。机械手上的轴允许机械手在一个特定的区域里工作。这个区域叫做机器人的工作单元，它的大小取决于机械手的大小。如果机器人的尺寸增加，工作单元的尺寸也会增加。机械手的运动由驱动器或驱动系统控制。它们驱动各轴在工作单元内旋转。驱动系统可以是电力的、液压的，也可以是气动的。驱动系统产生的动力经各种不同的机构转化成机械能。各种驱动系统经机械传动装置相连。这些有链条、齿轮和滚珠丝杠组成的机械传动装置驱动机器人的各轴。控制器用于控制机械手的