工业机器人中英文翻译外文文献翻译外文翻译Word文档格式.docx

工业机器人中英文翻译外文文献翻译外文翻译Word文档格式.docx

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Aftermorethan40yearsofdevelopment,sinceitsfirstappearancetillnow,therobothasalreadybeenwidelyappliedineveryindustrialfields,andithasbecometheimportantstandardofindustrymodernization.

Roboticsisthecomprehensivetechnologiesthatcombinewithmechanics,electronics,informaticsandautomaticcontroltheory.Theleveloftherobotictechnologyhasalreadybeenregardedasthestandardofweighinganationalmodernelectronic-mechanicalmanufacturingtechnology.

Overthepasttwodecades,therobothasbeenintroducedintoindustrytoperformmanymonotonousandoftenunsafeoperations.Becauserobotscanperformcertainbasicmorequicklyandaccuratelythanhumans,theyarebeingincreasinglyusedinvariousmanufacturingindustries.

Withthematurationandbroadapplicationofnettechnology,theremotecontroltechnologyofrobotbasedonnetbecomesmoreandmorepopularinmodernsociety.Itemploysthenetresourcesinmodernsocietywhicharealreadythreetoimplementtheoperatioofrobotoverdistance.Italsocreatesmanyofnewfields,suchasremoteexperiment,remotesurgery,andremoteamusement.What'

smore,inindustry,itcanhaveabeneficialimpactupontheconversionofmanufacturingmeans.

Thekeywordsarereprogrammableandmultipurposebecausemostsingle-purposemachinesdonotmeetthesetworequirements.Theterm“reprogrammable”impliestwothings:

Therobotoperatesaccordingtoawrittenprogram,andthisprogramcanberewrittentoaccommodateavarietyofmanufacturingtasks.Theterm“multipurpose”meansthattherobotcanperformmanydifferentfunctions,dependingontheprogramandtoolingcurrentlyinuse.

Developedfromactuatingmechanism,industrialrobotcanimitationsomeactionsandfunctionsofhumanbeing,whichcanbeusedtomovingallkindsofmaterialcomponentstoolsandsoon,executingmissionbyexecuatableprogrammultifunctionmanipulator.Itisextensiveusedinindustryandagricultureproduction,astronavigationandmilitaryengineering.

Duringthepracticalapplicationoftheindustrialrobot,theworkingefficiencyandqualityareimportantindexofweighingtheperformanceoftherobot.Itbecomeskeyproblemswhichneedsolvingbadlytoraisetheworkingefficienciesandreduceerrorsofindustrialrobotinoperatingactually.Time-optimaltrajectoryplanningofrobotisthatoptimizethepathofrobotaccordingtoperformanceguidelineofminimumtimeofrobotunderallkindsofphysicalconstraints,whichcanmakethemotiontimeofrobothandminimumbetweentwopointsoralongthespecialpath.Thepurposeandpracticalmeaningofthisresearchlieenhancetheworkefficiencyofrobot.

Duetoitsimportantroleintheoryandapplication,themotionplanningofindustrialrobothasbeengivenenoughattentionbyresearchersintheworld.Manyresearchershavebeeninvestigatedonthepathplanningforvariousobjectivessuchasminimumtime,minimumenergy,andobstacleavoidance.

Thebasicterminologyofroboticsystemsisintroducedinthefollowing:

Arobotisareprogrammable,multifunctionalmanipulatordesignedtomoveparts,materials,tools,orspecialdevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyofdifferenttask.Thisbasicdefinitionleadstootherdefinitions,presentedinthefollowingparagraphsthatgiveacompletepictureofaroboticsystem.

Preprogrammedlocationsarepathsthattherobotmustfollowtoaccomplishwork.Atsomeoftheselocations,therobotwillstopandperformsomeoperation,suchasassemblyofparts,spraypainting,orwelding.Thesepreprogrammedlocationsarestoredintherobot’smemoryandarerecalledlaterforcontinuousoperation.Furthermore,thesepreprogrammedlocations,aswellasotherprogrammingfeature,anindustrialrobotisverymuchlikeacomputer,wheredatacanbestoredandlaterrecalledandedited.

Themanipulatoristhearmoftherobot.Itallowstherobottobend,reach,andtwist.Thismovementisprovidedbythemanipulator’saxes,alsocalledthedegreesoffreedomoftherobot.Arobotcanhavefrom3to16axes.Thetermdegreesoffreedomwillalwaysrelatetothenumberofaxesfoundonarobot.

Thetoolingandgrippersarenotpartoftheroboticsystemitself:

rather,theyareattachmentsthatfitontheendoftherobot’sarm.Theseattachmentsconnectedtotheendoftherobot’sarmallowtherobottoliftparts,spot-weld,paint,arc-well,drill,deburr,anddoavarietyoftasks,dependingonwhatisrequiredoftherobot.

Theroboticsystemcanalsocontroltheworkcelloftheoperatingrobot.Theworkcelloftherobotisthetotalenvironmentinwhichtherobotmustperformitstask.Includedwithinthiscellmaybethecontroller,therobotmanipulator,aworktable,safetyfeatures,oraconveyor.Alltheequipmentthatisrequiredinorderfortherobottodoitsjobisincludedintheworkcell.Inaddition,signalsfromoutsidedevicescancommunicatewiththerobotinordertotelltherobotwhenitshouldassembleparts,pickupparts,orunloadpartstoaconveyor.

Theroboticsystemhasthreebasiccomponents:

themanipulator,thecontroller,andthepowersource.

Manipulator

Themanipulator,whichdosethephysicalworkoftheroboticsystem,consistsoftwosections:

themechanicalsectionandtheattachedappendage.Themanipulatoralsohasabasetowhichtheappendagesareattached.

Thebaseofthemanipulatorisusuallyfixedtotheflooroftheworkarea.Sometimes,though,thebasemaybemovable.Inthiscase,thebaseisattachedtoeitherarailoratrack,allowingthemanipulatortobemovedfromonelocationtoanther.

Asmentionedpreviously,theappendageextendsfromthebaseoftherobot.Theappendageisthearmoftherobot.Itcanbeeitherastraight,movablearmorajointedarm.Thejointedarmisalsoknownasanarticulatedarm.

Theappendagesoftherobotmanipulatorgivethemanipulatoritsvariousaxesofmotion.Theseaxesareattachedtoafixedbase,which,inturn,issecuredtoamounting.Thismountingensuresthatthemanipulatorwillremaininonelocation.

Attheendofthearm,awristisconnected.Thewristismadeupofadditionalaxesandawristflange.Thewristflangeallowstherobotusertoconnectdifferenttoolingtothewristfordifferentjobs.

Themanipulator’saxesallowittoperformworkwithinacertainarea.Thisareaiscalledtheworkcelloftherobot,anditssizecorrespondstothesizeofthemanipulator.Astherobot’sphysicalsizeincreases,thesizeoftheworkcellmustalsoincrease.

Themovementofthemanipulatoriscontrolledbyactuators,ordrivesystem.Theactuator,ordrivesystem,allowsthevariousaxestomovewithintheworkcell.Thedrivesystemcanuseelectric,hydraulic,orpneumaticpower.Theenergydevelopedbythedrivesystemisconvertedtomechanicalpowerbyvariousmechanicaldrivesystems.Thedrivesystemsarecoupledthroughmechanicallinkages.Theselinkages,inturn,drivethedifferentaxesoftherobot.Themechanicallinkagesmaybecomposedofchains,gears,andballscrews.

Controller

Thecontrollerintheroboticsystemistheheartoftheoperation.Thecontrollerstorespreprogrammedinformationforlaterrecall,controlsperipheraldevices,andcommunicateswithcomputerswithintheplantforconstantupdatesinproduction.

Thecontrollerisusedtocontroltherobotmanipulator’smovementsaswellastocontrolperipheralcomponentswithintheworkcell.Theusercanprogramthemovementsofthemanipulatorintothecontrollerthroughtheuseofahand-heldteachpendant.Thisinformationisstoredinthememoryofthecontrollerforlaterrecall.Thecontrollerstoresallprogramdatafortheroboticsystem.Itcanstoreseveraldifferentprograms,andanyoftheseprogramscanbeedited.

Thecontrollerisalsorequiredtocommunicatewithperipheralequipmentwithintheworkcell.Forexample,thecontrollerhasaninputlinethatidentifieswhenamachiningoperationiscompleted.Whenthemachinecycleiscompleted,theinputlineturnson,tellingthecontrollertopositionthemanipulatorsothatitcanpickupthefinishedpart.Then,anewpartispickedupbythemanipulatorandplacedintothemachine.Next,thecontrollersignalsthemachinetostartoperation.

Thecontrollercanbemadefrommechanicallyoperateddrumsthatstepthroughasequenceofevents.Thistypeofcontrolleroperateswithaverysimpleroboticsystem.Thecontrollersfoundonthemajorityofroboticsystemsaremorecomplexdevicesandrepresentstate-of-the-artelectronics.Thisis,theyaremicroprocessor-operated.Thesemicroprocessorsareeither8-bit,16-bit,or32-bitprocessors.Thispowerallowsthecontrollertotheveryflexibleinitsoperation.

Thecontrollercansendelectricsignalsovercommunicationlinesthatallowittotalkwiththevariousaxesofthemanipulator.Thistwo-waycommunicationbetweentherobotmanipulatorandthecontrollermaintainsaconstantupdateofthelocationandtheoperationofthesystem.Thecontrolleralsocontrolsanytoolingplacedontheendoftherobot’swrist.

Thecontrolleralsohasthejobofcommunicatingwiththedifferentplantcomputers.Thecommunicationlinkestablishestherobotaspartofacomputer-assistedmanufacturing（CAM）system.

Asthebasicdefinitionstated,therobotisareprogrammable,multifunctionalmanipulator.Therefore,thecontrollermustcontainsometypeofmemorystorage.Themicroprocessor-basedsystemsoperateinconjunctionwithsolid-statememorydevices.Thesememorydevicesmaybemagneticbubbles,random-accessmemory,floppydisks,ormagnetictape.Eachmemorystoragedevicestoresprograminformationforlaterrecallorforediting.

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