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外文原文 Introduction to Industrial RobotsIndustrial robets became a reality in the early 1960s when Joseph Engelberger and George Devol teamed up to form a robotics company they called “Unimation”.Engelberger and Devol were not the first to dream of machines that could perform the unskilled, repetitive jobs in manufacturing. The first use of the word “robots” was by the Czechoslovakian philosopher and playwright Karel Capek in his play R.U.R.(Rossums Universal Robot). The word “robot” in Czech means “worker” or “slave.” The play was written in 1922.In Capeks play , Rossum and his son discover the chemical formula for artificial protoplasm. Protoplasm forms the very basis of life.With their compound,Rossum and his son set out to make a robot. Rossum and his son spend 20 years forming the protoplasm into a robot. After 20 years the Rossums look at what they have created and say, “Its absurd to spend twenty years making a man if we cant make him quicker than nature, you might as well shut up shop.” The young Rossum goes back to work eliminating organs he considers unnecessary for the ideal worker. The young Rossum says, “A man is something that feels happy , plays piano ,likes going for a walk, and in fact wants to do a whole lot of things that are unnecessary but a working machine must not play piano, must not feel happy, must not do a whole lot of other things. Everything that doesnt contribute directly to the progress of work should be eliminated.”A half century later, engineers began building Rossums robot, not out of artificial protoplasm, but of silicon, hydraulics, pneumatics, and electric motors. Robots that were dreamed of by Capek in 1922, that work but do not feel, that perform unhuman or subhuman, jobs in manufacturing plants, are available and are in operation around the world.The modern robot lacks feeling and emotions just as Rossums son thought it should. It can only respond to simple “yes/no” questions. The moderrn robot is normally bolted to the floor. It has one arm and one hand. It is deaf, blind, and dumb. In spite of all of these handicaps, the modern robot performs its assigned task hour after hour without boredom or complaint.A robot is not simply another automated machine. Automation began during the industrial revolution with machines that performed jobs that formerly had been done by human workers. Such a machine, however , can do only the specific job for which it was designed, whereas a robot can perform a variety of jobs.A robot must have an arm. The arm must be able to duplicate the movements of a human worker in loading and unloading other automated machines, spraying paint, welding, and performing hundreds of other jobs that cannot be easily done with conventional automated machines.DEFINITION OF A ROBOTThe Robot Industries Association(RIA) has published a definition for robots in an attempt to clarify which machines are simply automated machines and which machines are truly robots. The RIA definition is as follows:“A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”This definition, which is more extensive than the one in the RIA glossary at the end of this book, is an excellent definition of a robot. We will look at this definition, one phrase at a time, so as to understand which machines are in fact robots and which machines are little more than specialized automation.First, a robot is a “reprogrammable multifunctional manipulator.” In this phrase RIA tells us that a robot can be taught (“reprogrammed”) to do more than one job by changing the informaion stored in its memory. A robot can be reprogrammed to load and unload machines, weld, and do many other jobs (“multifunctional”). A robot is a “manipulator”. A manipulator is an arm( or hand ) that can pick up or move things. At this point we know that a robot is an arm that can be taught to do different jobs.The definition goes on to say that a robot is “designed to move material, parts, tools, or specialized devices.” Material includes wood,steel, plastic, cardboard anything that is used in the manufacture of a product.A robot can also handle parts that have been manufactured. For example, a robot can load a piece of steel into an automatic lathe and unload a finished part out of the lathe.In addition to handling material and parts, a robot can be fitted with tools such as grinders, buffers, screwdrivers, and welding torches to perform useful work.Robots can also be fitted with specialized instruments or devices to do special jobs in a manufacturing plant. Robots can be fitted with television cameras for inspection of parts or products. They can be fitted with lasers to accurately mearure the size of parts being manufactured.The RIA definition closes with the phrase,”through variable programmed motions for the performance of a variety of tasks.” This phrase emphasizes the fact that a robot can do many different jobs in a manufacturing plant. The variety of jobs that a robot can do is limited only by the creativity of the application engineer.JOBS FOR ROBOTSJobs performed by robots can be divided into two major categories:hazardous jobs and repetitive jobs.Hazardous Jobs Many applications of robots are in jobs that are hazardous to humans. Such jobs may be considered hazardous because of toxic fumes, the weight of the material being handled, the temperature of the material being handled, the danger of working near rotating or press machinery, or environments containing high levels of radiation.Repetitive Jobs In addition to taking over hazardous jobs, robots are well suited to doing extremely repetitive jobs that must be done in manufacturing plants.many jobs in manufacturing plants require a person to act more like a machine than like a human. The job may be to pick a piece up from here and place it there. The same job is done hundreds of times each day. The job requires little or no judgment and little or no skill. This is not said as a criticism of the person who does the job , but is intended simply to point out that many of these jobs exist in industry and must be done to complete the manufacture of products. A robot can be placed at such a work station and can perform the job admirably without complaining or experiencing the fatigue and boredom normally associated with such a job. Although robots eliminate some jobs in industry, they normally eliminate jobs that humans should never have been asked to do. Machines should perform as machines doing machine jobs, and humans should be placed in jobs that require the use of their ability,creativity, and special skills.POTENTIAL FOR INCREASED PRODUCTIVITY In addition to removing people from jobs they should not have been placed in, robots offer companies the opportunity of achieving increased productivity. When robots are placed in repetitive jobs they continue to operate at their programmed pace without fatigue. Robots do not take either scheduled or unscheduled breaks from the job. The increase in productivity can result in at least 25% more good parts being produced in an eight-hour shift. This increase in productivity increases the companys profits, which can be reinvested in additional plants and equipment. This increase in productivity results in more jobs in other departments in the plant. With more parts being produced, additional people are needed to deliver the raw materials to the plant, to complete the assembly of the finished products, to sell the finished products, and to deliver the products to their destinations. ROBOT SPEED Although robots increase productivity in a manufacturing plant, they are not exceptionally fast. At present, robots normally operate at or near the speed of a human operator. Every major move of a robot normally takes approximately one second. For a robot to pick up a piece of steel from a conveyor and load it into a lathe may require ten different moves taking as much as ten seconds. A human operator can do the same job in the same amount of time . The increase in productivity is a result of the consistency of operation. As the human operator repeats the same job over and over during the workday, he or she begins to slow down. The robot continues to operate at its programmed speed and therefore completes more parts during the workday. Custom-built automated machines can be built to do the same jobs that robots do. An automated machine can do the same loading operation in less than half the time required by a robot or a human operator. The problem with designing a special machine is that such a machine can perform only the specific job for which it was built. If any change is made in the job, the machine must be completely rebuilt, or the machine must be scrapped and a new machine designed and built. A robot, on the other hand, could be reprogrammed and could start doing the new job the same day. Custom-built automated machines still have their place in industry. If a company knows that a job will not change for many years, the faster custom-built machine is still a good choice. Other jobs in factories cannot be done easily with custom-built machinery. For these applications a robot may be a good choice. An example of such an application is spray painting. One company made cabinets for the electronics industry. They made cabinets of many different sizes, all of which needed painting. It was determined that it was not economical for the company to build special spray painting machines for each of the different sizes of enclosures that were being built. Until robots were developed, the company had no choice but to spray the various enclosures by hand. Spray painting is a hazardous job , because the fumes from many paints are both toxic and explosive. A robot is now doing the job of spraying paint on the enclosures. A robot has been “taught” to spray all the different sizes of enclosures that the company builds. In addition, the robot can operate in the toxic environment of the spray booth without any concern for the long-term effect the fumes might have on a person working in the booth.FLEXIBLE AUTOMATION Robots have another advantage: they can be taught to do different jobs in the manufacturing plant. If a robot was originally purchased to load and unload a punch press and the job is no longer needed due to a change in product design, the robot can be moved to another job in the plant. For example, the robot could be moved to the end of the assembly operation and be used to unload the finished enclosures from a conveyor and load them onto a pallet for shipment.ACCURACY AND REPEATABILITY One very important characteristic of any robot is the accuracy with which it can perform its task. When the robot is programmed to perform a specific task, it is led to specific points and programmed to remember the locations of those points. After programming has been completed, the robot is switched to “run” and the program is executed. Unfortunately, the robot will not go to the exact location of any programmed point. For example, the robot may miss the exact point by 0.025 in. If 0.025 in. is the greatest error by which the robot misses any point- during the first execution of the program, the robot is said to have an accuracy of 0.025 in. In addition to accuracy , we are also concerned with the robots repeatability. The repeatability of a robot is a measure of how closely it returns to its programmed points every time the program is executed. Say , for example, that the robot misses a programmed point by 0.025 in. the first time the program is executed and that, during the next execution of the program, the robot misses the point it reached during the previous cycle by 0.010 in. Although the robot is a total of 0.035 in. from the original programmed point, its accuracy is 0.025 in. and its repeatability is 0.010 in.THE MAJOR PARTS OF A ROBOTThe major parts of a robot are the manipulator, the power supply, and the controller. The manipulator is used to pick up material, parts, or special tools used in manufacturing. The power supply suppplies the power to move the manipulator. The controller controls the power supply so that the manipulator can be taught to perform its task.外文翻译 工业机器人的介绍 20世纪60年代当约瑟夫和乔治合作创立了名为Unimation的机器公司，工业机器人便成为了一个事实。 约瑟夫和乔治不是第一个梦想在制造过程中机器可以执行没有技巧的、重复的工作。“机器人”这个词被捷克哲学家和剧作家卡瑞卡皮克在他的剧本RUR(罗斯的多才多艺的机器人）中第一次使用。在捷克“机器人”这个词是“工人”或者“奴隶”的意思。这个剧本是1922年写的。在卡皮克的剧本中，罗斯和他的儿子发明了人造细胞质的化学配方。细胞质是构成生命的最主要的成分，用他们细胞质的混合物，罗斯和他的儿子开始制造机器人。罗斯和他的儿子花了20年的时间制成了细胞质并注入给了机器人。20年后罗斯仔细看着他们已经创造出来的机器人说：“这个花了我们20年全部精力做出来的人，如果我们不能让他比将来的人类更灵活的话，还是把店铺关闭的好。”小罗斯回去为理想中的工人去掉他认为多余的器官。小罗说:“人类感觉做某些事快乐，像弹钢琴、散步，然而事实上做许多完整的事情是不需要的但是一个正在工作的机器不需要会弹钢琴，不需要感到快乐，不需要做很多完整的事情。如果每个器官不能促进工作正常的发展就应该被去掉。半个世纪以后，工程师们开始建造罗斯的机器人，不是用人造细胞质制成的，而是用硅、液压、气体和电动机。1922年卡皮克梦想的机器人工作了但是没有感觉，它在制造工厂做着非人类或者近似人类的工作，它在全世界都是便于利用和操作的。正如罗斯的儿子所想的，现代的机器人缺乏感情和情绪。它仅仅对简单的是或者不是的问题有回应。现代的机器人通常用螺栓固定在地板上，它有一个手臂和一把手，它是聋的、瞎的和哑的。尽管全是障碍，现代机器人仍然没有厌烦和和怨言的一小时又一小时的执行着它被指定的工作。一个机器人不仅仅是一个自动机。自动化始于工业革命用机器人来做以前由工人完成工作的期间。然而这样一个自动机仅仅能做它被设计的特定的工作，而一个机器人却可以做各种各样的工作。一个机器人必须有一个手臂，这个手臂必须会一个人在装载和卸载其它自动机、喷漆、焊接和执行上百种其它用常规的自动机不容易完成的工作完全一样的动作。 机器人的定义工业机器人协会已经为机器人公布了一个定义，试图阐明哪种机器仅仅是自动机和哪种机器是真真的机器人。工业机器人协会的定义如下：机器人是一个可重复编程的机械手，目的在于移动材料、零部件、机床，或者为了完成各种各样的任务而调整程序指令的专用装置。这个定义比供个机器人协会在这本书的最后定义的说法更广泛，是一个对机器人最好的定义。我们将接受这个定义同时还有这个说法，为了理解哪种机器是真正的机器人而哪种机器人仅仅是超过了专业自动化的机器。首先，机器人是一个：“可重复编程的多功能的机械手。”在这个说法中工业机器人协会告诉我们一个机器人可以被教会（重复编程）去做更多的工作，通过改变储存在它们记忆中的信息。一个机器人可以为了装载和卸载机器、焊接和做很多其他的工作（多功能的）而被重新编程。机器人是一个“机械手”。机械手是一个手臂（或者手），它能拿起或者移动物体。正是这样我们为了解到机器人是一个可以被教会做不同工作的手臂。这个定义还说明了机器人的目的是“移动材料、零件、机床或者专用装置。”材料包括木头、钢铁、塑料、卡片等等产品在制造过程中所用到的东西。机器人也可以拆卸已经制造完的零件。例如：机器人可以把一块铁装载到自动车床上并且车床上卸载已经加工完的零件。除此之外机器人还可以拆卸材料和零件，可以安装机床例如磨床、冲床、钻床和为了完成有效工作的焊接喷灯。机器人也可以安装在制造车间为了完成特殊工作的专用装置。为了检查零件或者产品机器人可以安装电视摄像机，为了精确的测量已制造完零件的尺寸它们还可以安装激光。工业机器人协会的定义接近这样的说法，“为了完成各种各样的任务可以通通过改变机器人的程序指令。”这种说法着重强调了在制造车间机器人可以做很多不相同的工作。机器人被应用工程师的创造力限制在仅能做大量的工作上。机器人的工作机器人可以完成的工作被分成两个主要的类型：有害工作和重复工作。 有害工作机器人在工作中的许多应用对人类是有害的。处理材料的重量，调整材料的温度，靠近旋转或紧贴机器的危险工作或者含有高放射物的环境，由于有有毒烟气，这种工作被认为是有害的。 重复工作除了掌管有害工作外，机器人还要认真的学习在制造车间必须被做的非常重复的工作。在制造车间的很多工作需要一个人扮演的比人类更像一个机器。把一个部件从这儿放置到那儿，这样的工作每天要做上百次，这种工作几乎不需要判断力和技巧，这并不是批评做这种工作的人，而仅仅是想指出在工业中存在很多这样的工作，并且为了完成产品的制造必须要做。机器人可以被安排在这样的岗位上，并且它能够没有抱怨或者经验很好的完成这种在正常情况下和疲劳、厌烦联系在一起的工作。尽管机器人完成了工业中的一些工作，但它们正常完成的是人类从来没有要求被做的工作。机器应该执行机器做的工作，而人类应该需要用他们的能力、创造力和特殊技巧来完成工作。 增加产量的潜能除了完成人们在工作中不能完成的工作外
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