外文翻译--工业机器人.doc

Robottheindustrialrobotisatoolthatisusedinthemanufacturingenvironmenttoincreaseproductivity.Itcanperformjobsthatmightsbehazardoustothehumanworker.Oneofthefirstindustrialrobotswasusedtoreplacethenuclearpowerplants.Theindustrialrobotcanalsooperateontheassemblylinesuchasplacingelectroniccomponentsonaprintedcircuitboard.Thus,thehumanworkercanberelievedoftheroutineoperationofthistedioustask.Robotscanalsobeprogrammedtodefusebombs,toservethehandicapped,andtoperformfunctionsinnumerousapplicationsinoursociety.Arobotisareprogrammable,multifunctionalmanipulatordesignedtomoreparts,materialstoolsorspecialdevicesthroughvariablepregrammedlocationsfortheperformanceofavarietyofdifferenttasks.Preprogrammedlocationsarepathsthattherobotmustfollowtoaccomplishwork.Atsomeoftheselocations,therobotwillstopandperformsomeoperation,suchasassemblyofparts,spraypainting,orwelding.Theseppreprogrammedlocationsarestoredintherobotsmemoryandarerecalledlaterforcontinousoperation.Furthermore,thesepreprogrammedlocations,aswellasotherprogramdata,canbechangedlaterastheworkrequirementschange.Thus,withregardtothisprogrammingfeature,anindustrialrobotisverymuchlikeacomputer.Theroboticsystemcanalsocontroltheworkcelloftheoperatingrobot.Theworkcelloftherobotisthetotalenviromentinwhichtherobotmustperformitstask.Includedwithinthiscellmaybetherobotmanipulator,controller,aworktable,safetyfeatures,oraconveyor.Inaddition,signalsfromoutsidedevicecancommunicatewiththerobot.Themanipulator,whichdoesthephysicalworkoftheroboticsystem,consistsoftwosections:themechanicalsectionandtheattachedappendage.Themanipulatoralsohasabasetowhichtheappendagesareattached.Thebaseofthemanipulatorisusuallyfixedtotheflooroftheworkarea.Sometimes,through,thebasemaybemovable.Inthiscase,thebaseisattachedtoeitherarailoratrack,allowingthemanipulatortobemovedfromonelocationtoanother.themanipulatorismainlycomposedofthehandandthemotion.Thehandisusesfortograspholdstheworkpiece(ortool)thepart,accordingtoisgraspedholdsthethingshape,thesize,theweight,thematerialandtheworkrequesthasmanykindsofstructuralstyles,liketheclamp,therequestholdandtheadsorptionandsoon.Themotion,causesthehandtocompleteeachkindofrotation(swinging),themigrationorthecompoundmotionrealizesthestipulationmovement,changesisgraspedholdsthethingpositionandtheposture.Motionsfluctuation,theexpansion,revolvingandsoonindependencemovementway,iscalledmanipulatorsdegree-of-freedom.Inordertocaptureinthespacetheoptionalpositionandthepositionobject,musthave6degrees-of-freedom.Thedegree-of-freedomisthekeyparameterwhichthemanipulatordesigns.Thedegree-of-freedomaremore,manipulatorsflexibilityisbigger,theversatilityisbroader,itsstructureisalsomorecomplex.Generallythespecial-purposemanipulatorhas23degrees-of-freedom.Theappendageisthearmoftherobot.Itcanbeeitherastraight,movablearmorajointedarmandgivesthemanipulatoritsvariousaxesofmotion.Thejointedarmisalsoknownasanarticulatedarm.Attheendofthearm,awristisconnected.Thewristismadeupofadditionalaxesandawristflange.Thewristflangeallowstherobotusertoconnectdifferenttoolingtothewristfordifferentjobs.Themanipulatorsaxesallowittoperformworkwithinacertainarea.Thisareaiscalledtheworkcelloftherobot,anditssizecorrespondstothesizeofthemanipulator.Astherobotphysicalsizeincreases,thesizeoftheworkcellmustalsoincrease.Themovementofthemanipulatoriscontrolledbyactuators,ordrivesystemcanuseelectric,hydraulic,orpneumaticpower.Theenergydevelopedbythedrivesystemisconveredtomechanicalpowerbyvariousmechanicaldrivesystems.Thedrivesystemsarecoupledthroughmechanicallinkages.Theselinkages,inturn,drivethedifferentaxesoftherobot.Themechanicallinkagesmaybecomposedofchains,geas,andballscrews.Thecontrollerisusedtocontroltherobotmanipulatormovementsaswellastocontrolperipheralcomponentswithintheworkcell.Theusercanprogramthemovementsofthemanipulatorintothecontrollerthroughtheuseofahand-heldteachpendant.Thisinformationisstoredinthememoryofthecontrollerforlaterrecall.Thecontrollerisalsorequiredtocommunicatewithperipheralequipmentwithintheworkcell.Forexample,acontrollerhasaninputline.Whenthemachinecycleiscompleted,theinputlineturnson,tellingthecontrollertopositionthemanipulatorsothatitcanpickupthefinishedpart.Then,anewpartispickedupbythemanipulatorandplacedintothemachine.Next,thecontrollersignalsthemachinetostartoperation.Thecontrollercanbemadefrommechanicallyoperateddrumsthatstepthroughasequenceofevents.Thistypeofcontrolleroperateswithsimpleroboticsystem.Thecontrollersfoundonthemajorityofroboticsystemsaremorecomplexdevicesandrepresentstate-of-the-artelectronics.Thatis,theyaremicroprocessor-operated.Thispowerallowsthecontrollertobeveryflexibleinitsoperation.Thecontrollercansendelectricsignalsovercommunicationlines.Thistwo-waycommunicationbetweentherobotmanipulatorandthecontrollermaintainsaconstantupdateofthelocationandtheoperationofthesystem.Thecontrolleralsohasthejobofcommunicatingwiththedifferentplantcomputer.Thecommunicationlinkestablishestherobotaspartofacomputer-assistedmanufacturing(CAM)system.Themicroprocessor-basedsystemsoperateinconjunctionwithsolid-statememorydevices.Thesememorydevicesmaybemagneticbubbles,random-accessmemory,floppydisk,ormagnetictape.Thepowersupplyistheunitthatsuppliespowertothecontrollerandthemanipulator.Twotypesofpoweraredelivedtotheroboticsystem.OnetypeofpoweristheAcpowerforoperationofthecontroller.Theothertypeofpowerisusedfordrivingthevariousaxesofthemanipulator.Forexample,iftherobotmanipulatoriscontrolledbyhydraulicorpneumaticdrives,controlsignalsaresenttothesedevices,causingmotionoftherobot.Industrialrobotsvarywidelyinsize，shape，numberofaxes，degreesoffreedom，anddesignconfiguration.Eachfactorinfluencesthedimensionsoftherobotsworkingenveloporthevolumeofspacewithinwhichitcanmoveandperformitsdesignatedtask.Abroaderclassificationofrobotscanbeendescribedasbelow.Fixed-andVariable-SequenceRobots.Thefixed-sequencerobot(alsocalledapick-andplacerobot)isprogrammedforaspecificsequenceofoperqtions.Itsmovementsarefrompointtopoint,andthecycleisrepeatedcontinuously.Thevariable-sequencerobotcanbeprogrammedforaspecificsequenceofoperationsbutcanbereprogrammedtoperformanothersequenceofoperation.PlaybackRobot.Anoperatorleadsorwalkstheplaybackrobotanditsendeffectorthroughthedeiredpath.Therobotmemorizesandrecordsthepathandsequenceofmotionsandcanrepeatthemcontinuallywithoutanyfurtheractionorguidancebytheoperator.NumericallyControlledRobot.Thenumericallycantrolledrobotisprogrammedandoperatedmuchlikeanumericallycontrolledmachine.Therobotisservocontrolledbydigitaldata,anditssequenceofmovementscanbechangedwithrelativeease.IntelligentRobot.3Theintelligentrobotiscapableofperformingsomeofthefunctionsandtaskscarriedoutbyhumanbeings.Itisequippedwithavarietyofsensorswithvisualandtactilecapabilities.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