外文翻译--工业机械手工程 英文版.pdf

963IndustrialRob42.IndustrialRoboticsMartinHgele,KlasNilsson,J.NorbertoPiresMostrobotstodaycantracetheirorigintoearlyindustrialrobotdesigns.Muchofthetechnol-ogythatmakesrobotsmorehuman-friendlyandadaptablefordifferentapplicationshasemergedfrommanufacturersofindustrialrobots.Indus-trialrobotsarebyfarthelargestcommercialapplicationofroboticstechnologytoday.Alltheimportantfoundationsforrobotcontrolwereini-tiallydevelopedwithindustrialapplicationsinmind.Theseapplicationsdeservespecialatten-tioninordertounderstandtheoriginofroboticsscienceandtoappreciatemanyunsolvedprob-lemsthatstillpreventthewideruseofrobotsinmanufacturing.Inthischapterwepresentabriefhistoryanddescriptionsoftypicalindus-trialroboticsapplications.Weshowhowrobotswithdifferentmechanismsfitdifferentapplica-tions.Eventhoughrobotsarewellestablishedinlarge-scalemanufacturing,particularlyinauto-mobileandrelatedcomponentassembly,therearestillmanychallengingproblemstosolve.Therangeoffeasibleapplicationscouldsignifi-cantlyincreaseifrobotswereeasiertoinstall,tointegratewithothermanufacturingprocesses,42.1AShortHistoryofIndustrialRobots.96442.2TypicalApplicationsandRobotConfigurations.96942.2.1Welding.96942.2.2CarBodyAssembly.96942.2.3Painting.97142.2.4MaterialTransferAutomation.97142.2.5Machining.97442.2.6HumanRobotCooperationforHandlingTasks.97442.3KinematicsandMechanisms.97542.4TaskDescriptionsTeachingandProgramming.97642.5End-EffectorsandSystemIntegration.98042.6ConclusionsandLong-TermChallenges.983References.985andtoprogram,particularlywithadaptivesensingandautomaticerrorrecovery.Weout-linesomeoftheseremainingchallengesforresearchers.Industrialrobotsareconsideredasacornerstoneofcom-petitivemanufacturing,whichaimstocombinehighproductivity,quality,andadaptabilityatminimalcost.In2007morethanonemillionindustrialrobotinstal-lationswerereported,withautomotiveindustriesasthepredominantuserswithashareofmorethan60%42.1.However,high-growthindustries(inlifesciences,elec-tronics,solarcells,food,andlogistics)andemergingmanufacturingprocesses(gluing,coating,laser-basedprocesses,precisionassemblyetc.)willincreasinglyde-pendonadvancedrobottechnology.Theseindustriesshareofthenumberofrobotinstallationshasbeengrowingsteadily.Theproductionofindustrialrobotsontheonehand,andtheplanning,integration,andoperationofrobotworkcellsontheotherhand,arelargelyindependenten-gineeringtasks.Inordertobeproducedinsufficientlylargequantities,arobotdesignshouldmeettherequire-mentsforthewidestsetofpotentialapplications.Asthisisdifficulttoachieveinpractice,variousclassesofrobotdesignsregardingpayloadcapacity,numberofrobotaxes,andworkspacevolumehaveemergedforapplica-tioncategoriessuchasassembly,palletizing,painting,welding,machining,andgeneralhandlingtasks.Generally,arobotworkcellconsistsofoneormorerobotswithcontrollersandrobotperipherals:grippersPartF42964PartFFieldandServiceRoboticsortools,safetydevices,sensors,andmaterialtransfercomponentsformovingandpresentingparts.Typically,thecostofacompleterobotworkcellisfourtimesthecostoftherobotsalone.Arobotworkcellisusuallytheresultofcustomizedplanning,integration,programming,andconfiguration,requiringsignificantengineeringexpertise.Standard-izedengineeringmethods,tools,andbest-practiceexampleshavebecomeavailabletoreducecostsandprovidemorepredictableperformance42.2.Todaysindustrialrobotsaremainlytheresultoftherequirementsofcapital-intensivelarge-volumemanu-facturing,mainlydefinedbytheautomotive,electronics,andelectricalgoodsindustries.Futureindustrialrobotswillnotbeamereextrapolationoftodaysdesignswithrespecttofeaturesandperformancedata,butwillratherfollownewdesignprinciplesaddressingawiderrangeofapplicationareasandindustries.Atthesametime,newtechnologies,particularlyfromtheinformationtechnol-ogy(IT)world,willhaveanincreasingimpactonthedesign,performance,andcostoffutureindustrialrobots.Internationalandnationalstandardsnowhelptoquantifyrobotperformanceanddefinesafetyprecau-tions,geometry,andmediainterfaces.Mostrobotsoperatebehindsecurebarrierstokeeppeopleatasafedistance42.3.Recently,improvedsafetystandardshavealloweddirecthumanrobotcollaboration,permit-tingrobotsandhumanfactoryworkerstosharethesameworkspace42.4.Wewillfirstpresentahistoricalintroductiontoindustrialroboticswithaselectionofcontemporaryap-plicationexamples,thenthebasicprinciplesthatareusedinindustrialroboticsandareviewofprogram-mingmethodswillbepresented.Wewillalsodiscusstools(end-effectors)andsystemintegrationrequire-ments.Thechapterwillbeclosedwiththepresentationofselected,unsolvedproblemsthatcurrentlyinhibitthewiderapplicationofindustrialrobots.42.1AShortHistoryofIndustrialRobotsTheinventionoftheindustrialrobotdatesbackto1954whenGeorgeDevolfiledapatentonapro-grammedarticletransfer(Fig.42.1).AfterteamingupwithJosephEngelberger,thefirstrobotcompany,Uni-mation,wasfoundedandputthefirstrobotintoserviceataGeneralMotorsplantin1961forextractingpartsa)b)Fig.42.1a,bTheinventionoftheindustrialrobot(a)ThispatentwasthestartofajointeffortofG.DevolandJ.Engelbergertoformthefirstrobotcompany,Unimation,afusionofthewordsuniversalandautomation.ThecompanywasacquiredbyWestinghouseinthelate1980s.(b)ThefirstUnimationperformedarathersimplehandlingtaskin1961ataGeneralMotorsplant.Othercarmanufacturersfollowed.ThephotoshowsthefirstrobotinstalledatFordfromtheirMuseuminDearbornfromadie-castingmachine.MostofthehydraulicallyactuatedUnimatesweresoldthroughthefollowingyearsforworkpiecehandlingandforspot-weldingofcarbodies42.5.Bothapplicationsweresuccessful,whichmeansthattherobotsworkedreliablyanden-sureduniformquality.Soon,manyothercompaniesPartF42.1IndustrialRobotics42.1AShortHistoryofIndustrialRobots965a)b)Fig.42.2a,bTheallelectric(a)IRB-6and(b)aSCARA-typekinematic(a)Firstintroducedin1973,theIRB-6hasbeenabreakthroughdevelopmentasitwasthefirstserially-producedrobotproduct,whichcombinedall-electric-drivestechnologyandamicrocomputerforprogrammingandmotioncontrol.Therobotprovedveryrobust.Life-timesofmorethan20yearsinharshproductionswerereported(bycourtesyABBAutomation,Friedberg)(b)Theselectivecomplianceassemblyrobotarm(SCARA)isparticularlysuitedforassemblytasksasitcombinesrigidityintheverticalaxisandcomplianceinthehorizontalaxis.In1978,thefirstHirataAR-300wasputtogether.Depictedisthesuccessordesign,theAR-i350.TheSCARAdesigncombinesthreeorfourrotationalandonetranslationalaxis(bycourtesyHIRATARobotics,Mainz)a)b)Fig.42.3a,bCincinnatiMilacronT3andtheUnimationPUMA560(a)In1974,CincinnatiMilacronintroducedthefirstmicrocomputercontrolledrobot.ThefirstT3(TheTomorrowTool)modelsusedhydraulicdrives,latertheywerereplacedbyelectricmotorsasshowninthephoto.TheCMroboticsdivisionwasacquiredbyABBinthelate1970s(b)This6axisPUMA(programmableuniversalmachineforassembly)cameclosetothedexterityofahumanarm.Afteritslaunchin1979byUnimationitbecameoneofthemostpopulararmsandwasusedasareferenceinroboticsresearchformanyyearsPartF42.1966PartFFieldandServiceRoboticsa)b)Fig.42.4a,bSpot-weldinglineandvideocassetterecorder(VCR)assemblyaspioneeringapplicationsforindustrialrobotapplications.(a)Spotweldingquicklybecameaprimaryapplicationforrobotsasthesejobswereparticularlyexhaustingandhazardousforworkers.Atypicalcarbodyweldinglinefrom1985isdisplayed.ThecarmodelshownisaFrenchCitronCX(b)AnautomatedVCRassemblyline(ca.1989)withSCARAscarryingaturretwithmulti-grippertools.TypicallyfivepartsareaddedbyonerobotbeforetheVCRismovedtothenextstationofthefullyautomatedassemblylinea)b)Fig.42.5a,bTheABBFle