工业机器人机械手外文翻译Word下载.doc

工业机器人机械手外文翻译Word下载.doc

《工业机器人机械手外文翻译Word下载.doc》由会员分享，可在线阅读，更多相关《工业机器人机械手外文翻译Word下载.doc（22页珍藏版）》请在冰豆网上搜索。

机器人学入门

力学与控制

系　　　　　　别：

机械与汽车工程系

专业名称：

机械设计制造及其自动化

学生姓名：

郭仕杰

学　　　　　　号：

06101315

指导教师姓名、职称：

贺秋伟副教授

完成日期2014年2月28日

Abstract

Thisbookintroducesthescienceandengineeringofmechanicalmanipulation.Thisbranchoftherobothasbeeninseveralclassicalfieldbased.Themainrelatedfieldssuchasmechanics,controltheory,computerscience.Inthisbook,Chapter1through8topicsrangingfrommechanicalengineeringandmathematics,Chapter9through11covercontroltheoryofmaterial,andtwelfthand13maybeclassifiedascomputersciencematerials.Inaddition,thisbookemphasizesthecomputationalaspectsoftheproblem;

forexample,eachchapteritmainlymechanicalhasabriefsectioncalculation.Thisbookisusedtoteachtheclassnotesintroductiontorobotics,StanfordUniversityinthefallof1983to1985.Thefirstandsecondversionshavebeenthrough2002inusefrom1986institutions.Usingthethirdversioncanalsobenefitfromtherevisedandimprovedduetofeedbackfrommanysources.Thankstoallthosewhomodifiedtheauthor'

sfriends.Thisbookissuitableforadvancedundergraduatesthefirstgradecurriculum.Ifstudentshavecontributedtothedynamicsandlinearalgebracourseinadvancedlanguageprograminabasiccourseofstatics.Inaddition,itishelpful,butnotabsolutelynecessary,letthestudentsfinishthecoursecontroltheory.Thepurposeofthisbookisasimpleintroductiontothematerial,intuitiveway.Specifically,doesnotneedtheaudiencemechanicalengineerstrict,althoughmuchofthematerialisfromthefield.AttheStanfordUniversity,manyelectricalengineers,computerscientists,mathematiciansfindthisbookveryreadable.Hereweonlyontheimportantparttoextract.

Themaincontent

1、Background

Thehistoricalcharacteristicsofindustrialautomationispopularduringtheperiodofrapidchange.Eitherasacauseoraneffectofautomationtechnology,periodofthischangeiscloselylinkedtotheworldeconomy.Useofindustrialrobots,canbeidentifiedinauniquedevice1960'

s,withthedevelopmentofcomputeraideddesign（CAD）systemandcomputeraidedmanufacturing（CAM）system,thelatesttrends,automatedmanufacturingprocess.Thetechnologyistheleadingindustrialautomationthroughanothertransition,itsscopeisstillunknown.InthenorthernAmerica,machineryandequipmentusedinearly80'

softhe20thcentury,thelate80'

softhe20thcenturyashortpull.Sincethen,themarketmoreandmore（Figure1.1）,althoughitisaffectedbyeconomicfluctuations,allthemarket.Figure1.2showstherobotswereinstalledinalargenumberofannualworldindustrialzone.Notably,thenumberofJapan'

sreportisdifferentfromotherareas:

theycountthenumberofmachineofrobotinotherpartsoftheworldarenotconsideredrobot（instead,theywouldsimplybeconsidered"

factorymachines"

）.Therefore,thereportedfiguresfortheJapaneseexaggerated.

Oneofthemainreasonforthegrowthintheuseofindustrialrobotsisthattheyarefallingcosts.Fig.1.3showsthat,inthelastcentury90'

stenyears,robotpricesdroppedalthoughhumanlaborcosts.Atthesametime,therobotisnotonlycheaper,theybecomemoreeffectiveandfaster,moreaccurate,moreflexible.Ifwefactorthesequalityadjustedtothenumber,theuseofrobotstodecreasethecostofeventhantheirpricetagfaster.Morecost-effectiveintherobottheybecome,ashumanlabortobecomemoreexpensive,moreandmoreindustrialworkbecomerobotautomationcandidate.Thisisthemostimportanttrendtopromotetheindustrialrobotmarketgrowth.Thesecondtrendis,inadditiontotheeconomic,asrobotsbecomemorecanbecomemoretaskstheycando,mayhaveonhumanworkersengagedindangerousorimpossible.Industrialrobotsperformgraduallygetmorecomplex,butitisstill,in2000,about78%installationweldingormaterialhandlingrobotinUSArobot.

Amorechallengingfield,industrialrobots,accountedfor10%unit.Thisbookfocusesonthedynamicsandcontrolofthemostimportantformsofindustrialrobot,manipulator.Whatistheindustrialrobotissometimesdebate.Equipment,asshowninFigure1.4isalwaysincluded,andCNCmillingmachine（NC）isusuallynot.Thedifferenceliesintheprogrammablecomplexplaceifamechanicaldevicecanbeprogrammedtoperformavarietyofapplications,itmaybeanindustrialrobot.Thisisthepartofalimitedclassoftasksareconsideredfixedautomation.Forthepurposeofthisdifference,donotneedtobediscussed;

thebasicpropertiesofmostmaterialssuitableforvariousprogrammablemachine.

Ingeneral,themechanicalandcontrolresearchofthemechanicalhandisnotanewscience,butacollectionofthethemefr