机器人手臂的发展和制造毕业课程设计外文文献翻译、中英文翻译

目 录1 英文文献翻译1Development and manufacture of robot arms1机器人手臂的发展和制造112 专业阅读书目182.1 材料力学182.2理论力学182.3工程材料182.4 PLC电气控制技术192.5 Creo2.0机械设计教程192.6机械制造基础192.7机械原理202.8机械设计212.9现代工程图学212.10互换性与技术测量211 英文文献翻译Development and manufacture of robot armsRange is very wide, the definition of a robot to the factory service industrial robots, small that occupy the home cleaning robot according to the current the broadest definition, if something is considered by many as a robot, it is a robot many roboticists (manufacturing) of the robot USES a more precise definition of their rules, the robot should be can reprogram the brain (a computer), is used to move according to this definition, robots and other mobile machines, such as car in their computerMany new cars have an on-board computer, but only use it to make minor adjustments The driver control most of the vehicle directly by all kinds of machinery parts The robot in terms of physical properties with the ordinary computer is different, each connected to a body, and an ordinary computerMost robots do have some common features in the first place, almost all robots have a movable body some have motorized wheels, while others have a lot of moving parts, these parts are typically made of metal or plastic is similar to human body skeleton, the independent components are connected with joint robot wheel and axle is to use some kind of transmission device connected some robots using motor and solenoid as transmission device;Others use hydraulic systems.And some use pneumatic system (driven by compressed gas systems) robot can use any of the above types of gearing metal processing good second, robots need a power source to drive these drive most robots will use battery or wall outlet for power supply in addition, the hydraulic robot also need a pump for the liquid pressure, pneumatic robot requires gas compressor or compressed gas tankAll transmission device through wires connected to a circuit, the circuit for power supply, electric motor and spiral coil directly and manipulate electronic valve valve to start the hydraulic system can control the path of the pressure fluid flow within the machine, for example, if a robot to move a driven by hydraulic leg, its controller would open a valve, the valve by the hydraulic pump to the leg will drive the pistons, piston cylinder pressure fluid rotating the legs forward, usually use robots can provide two-way thrust piston, to make the parts can be in both directions activities robot computer can control all the components are connected to the circuitIn order to make the robot move, most computer will open all of the required motor and valve robot can be reprogrammed if you want to change to a robots behavior, you only need to write a new program into the computer can not all robots have a few robot vision sensing system hearing smell or taste of robot is one of the most common sense movement, namely its ability to monitor their movement in the standard design, the joints of the robot installation with engraved with the wheels of the grooveThere is a light emitting diode in the side of the wheel, it sends out a light beam through the grooves, according to on on the other side of the wheel, the light sensor When the mobile robot a particular joint, fluted wheel will turn During the process, the groove will block the beam optical sensor read flashing light beam model, and the data can be transmitted to the computer computer according to the model to accurately calculate the joints has been rotating distance used in the basic computer mouse and the same These are an essential part of the robotRobotics experts there are countless ways these elements can be combined, so as to create infinite arm of the complex machinery of the Robot is one of the most common design 2 how robots work in English Robot (Robot) this term comes from the Czech word robota, translation forced laborers usually use it to describe most of the Robot is very apt Robot used mostly in the world is engaged in the heavy repetitive manufacturing work They are responsible for those very difficult for human beings Dangerous or boring taskManufacturing of the most common type of robot is a typical machine machine arm arm consists of seven metal parts, they are connected with six joint computer connected the rotation to each joint of stepper motors, in order to control the robot arm (some large machine use hydraulic or pneumatic system) is different from general motors, stepping motors will incrementally precise mobile making computers can accurately mobile robot arm, repeating the same action make the machine arm robot motion sensor is used to ensure he is in the correct amount of mobileThis with six joint industrial robots and human arm are very similar, it is equivalent to the part of the shoulder to the elbow and wrist it shoulders are normally installed in a fixed base design (instead of moving the body) on this type of robot has six degrees of freedom, that is to say, it can move in six different directions, by contrast, human arm with seven degrees of freedomMost industrial robots in automobile assembly line work, responsible for assembling cars in a large number of such work, the efficiency of the robot is much taller than humans, because they were very accurate No matter how many hours they have been working for, they can still be in the same location hole, with the same strength twist screws manufacturing such robots in the computer industry also plays a very important role They are extremely accurate dab hand a tiny tiny chip can be assembled difficulty of manufacture and programming of the robot arm is relatively low, because they only work in a limited areaIf you want to send robots to broad the outside world, some complicated things become the primary problem is to provide a viable for robot motion system If a robot only needs to move on flat ground, the wheels or track tends to be the best choice If the wheel and rail wide enough, they also apply to a more rugged terrain But the robots designers often want to use the leg structure, because they are more flexible Manufacturing legged robots can also help researchers understand natural kinematics knowledge, this is a good practice in the field of biological researchLeg of the robot is usually in the hydraulic or pneumatic piston driven back and forth motion of the piston connection on different leg parts, like muscles to make different bone adhered to at all the piston can work together in the right way, this is a difficult problem in the infant stage, the brain must figure out which muscles to contract at the same time to make when walking upright will fall by the same token, the robot designer must to find the right combination piston movement related to walk, and this information into the computer for the robotMany mobile robots have a built-in balancing system (such as a set of gyroscopes) that tells computers when to correct their movementsManipulator in almost not replace gradually with The Times of heavy labor to realize mechanization and automation of production, operating in a hazardous environment to protect the personal safety, thus is widely used in metallurgical machinery manufacturing electronic light industry and atomic energy etcThe types of manipulator can be divided into hydraulic electric pneumatic manipulator according to the driving mode.According to the applicable scope, it can be divided into two types: special manipulator and general manipulator.According to the motion trajectory control mode can be divided into point control and continuous trajectory control manipulator: 1) according to the control points fixed program manipulator control system is a fixed program controller has a simple process, less application of, and is fixed and adjustable trip but cant be any point positioning 2) according to the drive way points hydraulic transmission manipulator pneumatic manipulator mechanical manipulator (3) according to the characteristics of industrial robots can be divided into the following three categoriesManipulator handling work: the operation of the manipulator in the main process equipment, used to complete the secondary operation, such as loading and unloading of the blank workpiece and tooling production: industrial manipulator can be used to complete the process of the main operation, such as assembly welding coating bending to cut off the general industrial manipulator: its wide range of USES, can complete all kinds of process operation (4) according to the function classification dedicated manipulator: it is attached to the host has a fixed program without independent control system of mechanical deviceSingle dedicated manipulator has less action, work objects, structure is simple, practical, reliable and low cost, suitable for large quantities of a large number of automated production, such as automatic machine, automatic line of the manipulator and the processing center affiliated to automatically change the knife manipulatorGeneral manipulator: also known as the industrial robot it is a kind of independent control system of mechanical device with variable working range positioning program features high precision and strong versatility, is suitable for the changing of varieties of medium and small batch production of automation18Manipulator can imitate human arm some action function, fixed program to grab the moving or operating tool automatic operation of the device Manipulator is the first industrial robots, is also the first modern robot, it can be hard work instead of human to realize mechanization and automation of production, operating in a hazardous environment to protect the personal safety, the manipulator can achieve human arm of a series of actions, an advanced industrial manipulator is the first, its function is to replace people to do heavy work, instead of human in dangerous environment for homework, employees only need in the security control center operating machine to finish the homeworkFirst spray painting robot in our country, in the industrial spraying robot PG 1990-1 s have a spraying robot is how strong, reflects the wisdom of the Chinese people, the result of the industrial development of wisdom, but at that time the technology is still in its infancy, the manipulator can still no artificial painting effect is good, cant replace artificial and due to the time cost of the efficiency and quality of machine hand and no artificial cheap, plus domestic cheap labor force, lead to this kind of machine is not widely used, research and development and progress is slowTherefore, the application and technology of paint spraying manipulator were relatively slow compared with other industriesAs time goes on, the sharing of information, technology transfer, the topic of artificial intelligence is now the focus of technology of the manipulator has been flourishing development of microelectronic technology has been developing rapidly, many industries are developed to the direction of intelligent portable, back to the manipulator, under such conditions, the robot technology is mature, there are many control methods, for example, microcontroller, PLC, etc., makes the movement became more anthropomorphic manipulator, and promote new material makes the mechanical arm movement precision of material is lighter, mechanical properties and casting properties have very bigimprovement Countries advocate sustainable green development, the concept of people-oriented, development to get a high degree of attention, so the manipulator robot instead of people entering a high-risk environment for a long time operation, embodies the people-oriented concept, the new control system makes the spray-painting manipulator operation several times stronger than human, from saving spray paint spray paint quality on the rolling artificial now cost is high, manipulator appears more economical, more in line with the concept of sustainable development of green environmental protectionAs is known to all, stepper motor is a kind of motor with low rotor inertia, high positioning precision, small error and simple control. It is one of the main actuators in the field of motion control. PLC as a kind of industrial control computer, with modular structure, flexible configuration, fast processing speed, accurate data processing capabilities, a variety of control functions, the network technology and superior performance, such as performance, is one of the widely used control device. PLC also has good control ability to the stepper motor. With its high speed pulse output function or motion control function, the stepper motor can be controlled.Stepper motor is a need to control electrical pulse signal, and converting electrical pulse signal into the corresponding angular displacement or linear displacement actuator Due to the pulse control, its the amount of angular displacement and speed of the rotor is strictly proportional to input the number of pulses and pulse frequency, by controlling the pulse number to control the amount of angular displacement, so as to achieve the purpose of accurate positioning;The speed and acceleration of motor rotation are controlled by controlling pulse frequency, so as to achieve the purpose of speed regulation.The rotation direction of the motor can be changed by changing the power orderMany different kinds of stepping motor, according to the structure can be divided into reactive and three kinds of hybrid stepping motor, permanent magnet indicated by number of phase can be divided into two phase and multiphase three single-phase stepper motor control and drive method are many, according to the use of control unit can be divided into: common integrated circuit control of single chip microcomputer control such as industrial control, PLC control;According to the control structure, it can be divided into: hard pulse generator hard pulse distribution structure soft pulse generator soft pulse distributor structure soft pulse generator hard pulse distributor structureDue to the stepper motor has advantages of no cumulative error tracking performance good, stepper motor control in the majority with open loop control system hardware part by PLC controller drives the control panel and other components of the stepper motor control panel as the human-computer interaction interface, through the communication with PLC, operation monitoring function, can be a traditional button dial key switch operation panel of light meter through hard wiring, can also is a personal computer or a new type of touch screen;The controller PLC sends out the pulse direction signal and controls the running state of the stepper motor through the driverThe highest step frequency that the stepper motor can respond without losing step is called starting frequency.Similarly, the stop frequency refers to the system control signal suddenly shut off, stepper motor is not running through the highest step frequency target location and start frequency stop frequency and output torque of the motor and load of the moment of inertia With these data, can effectively to the stepper motor speed control using PLC control of stepping motor, should be based on the computing system of pulse equivalent maximum pulse frequency and pulse number, biggest and selection of PLC and its corresponding function moduleMechanical arm choice of materials: materials analysis: axial parts mainly bear at work from repeated torsional force and deformation, and absorb a certain amount of impact load According to the working conditions and failure mode of shaft, and puts forward the following requirements to shaft materialsGood comprehensive mechanical properties, to reduce the stress concentration and the notch sensitivity, prevent shaft broke off in the work, need shaft strength and plasticity has the good coordination with the high fatigue strength, prevent fatigue fracture of good wear resistance, prevent journal wear So in order to give attention to both strength and toughness, considering fatigue resistance, axial carbon in the alloy is commonly used in quenched and tempered steel (mainly include 45 steel and 40 cr, 40 MNB) manufacturing in particular, the general principles of the selection belowForce is small, not important axis usually choose using ordinary carbon steel bending torsional cyclic loading widely used general axis of medium carbon steel, the quenched and tempered treatment or normalizing demand journal place such as wear resistance, can be partial surface hardening At the same time carry axial load and bending load and alternating load, under a certain impact of axle at the same time, we can choose the alloy quenched and tempered steel, such as the common material of 40 cr, 40 MB, such as steel, the quenched and tempered and surface hardening carry heavier alternating load, impact load and strong friction shaft, can choose low alloy carburizing steel, such as cr, 20 20 CRMNVB such as steel, and after carburizing and quenching temperingMore important, if our shaft position and carry heavier alternating load and impact load, we can steel surface nitriding, craft route is first conditioning treatment after nitriding If our axis is subjected to alternating torque load, but the impact is small, and good wear resistance, the material we can use nodular cast iron, for large low speed shaft we can use cast steel机器人手臂的发展和制造机器人的定义范围很广，大到工厂服务的工业机器人，小到居家打扫机器人。按照目前最宽泛的定义，如果某样东西被许多人认为是机器人，那么它就是机器人。许多机器人专家（制造机器人的人）使用的是一种更为精确的定义。他们规定，机器人应具有可重新编程的大脑（一台计算机），用来移动身体。根据这一定义，机器人与其他可移动的机器（如汽车）的不同之处在于它们的计算机要素。许多新型汽车都有一台车载计算机，但只是用它来做微小的调整。驾驶员通过各种机械装置直接控制车辆的大多数部件。而机器人在物理特性方面与普通的计算机不同，它们各自连接着一个身体，而普通的计算机则不然。大多数机器人确实拥有一些共同的特性首先，几乎所有机器人都有一个可以移动的身体。有些拥有的只是机动化的轮子，而有些则拥有大量可移动的部件，这些部件一般是由金属或塑料制成的。与人体骨骼类似，这些独立的部件是用关节连接起来的。机器人的轮与轴是用某种传动装置连接起来的。有些机器人使用马达和螺线管