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1、Industrial robots There are variety of definitions of the term robot. Depending on the definition used, the number of robot installations worldwide varies widely. Numerous single-purpose machines are used in manufacturing plants that might appear to be robots. These machines are hardwried to perfo

2、rm a single function and cannot be reprogrammed to preform a different function. Such single-purpose machines do not fit the definition for industrial robots that is becoming widely accepted.this definition was developed by the Robot Institute of America. A robot is a reprogrammable multifunct

3、ional mainipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. Note that this definition contains the words reprogrammable and multifunctional. It is these two characteristics that separate the t

4、ure industrial robot from the various single-purpose machines used in modern manufacturing firms. The term “reprogrammable” implies two things: The robot operates according to a written program, and this program can be rewritten to accommodate a variety of manufactureing tasks. The term “multi

5、functional” means that the robot can, through reprogramming and the use of different end-effectors, perform a number of different manufacturing tasks. Definitions written around these two critical characteristics are becoming the accpted definitions among manufacturing professionals. The first

6、 articulated arm came about in 1951 and was used by the U. S. Atomic Energy Commission. In 1954, the first programmable robot was designed by George Devol. It was based on two important technologies: (1) Numerical control (NC) technology. (2) Romote manipulator technology. Numerical contorl techn

7、ology provided a form of machine control ideally suited to robots. It allowed for the control of motion by stored programs. These programs contain date points to which the sequentially moves, timing signals initiate action and to stop movement, and logic staements to allow for decision making. Remo

8、te manipulator technology allowed a machine to be more than just another NC machine. It allowed such machines to become robots that can perform a variety of manufacturing tasks in both inaccessible and unsafe environments. By merging these two technologies, Devol developed the first industrial robot

9、, an unsophisticated programmable materials handling machine. The first commerically produced robot was developed in 1959. In 1962, General Motors Corporation. This robot was produced by Unimation. A major step forword in robot control occurred in 1973 with the development of the T-3 industrial rob

10、ot by Cincinnati Milacron. The T-3 robot was the first commercially produced industrial robot controlled by a minicomputer. Numerical control and remote manipulator technology prompted the wide-scale development and use of industrial robots. But major technological developments do not take place si

11、mply because of such new capabilities. Something must provide the impetus for taking advantage of these capabilities. In the case of industrial robots, the impetus was economics. The rapid inflation of wages experienced in the 1970s tremendously increased the personnel costs of manufacturing firms.

12、 At the same time, foreign competition became a serious problem for U. S. manufacturers. Foreign manufacturers who had undertaken automation on a wide-scale basis, such as those in Japan, began to gain an increasingly large share of the U. S. and world market for manufactured goods, particularly aut

13、omobiles. Through a variety of automation techniques including robots, Japanese manufacturers, beginning in the 1970s, were able to produce better automobiles more cheaply than nonautomated U. S. manufacturers. Consequently, in order to survive, U. S. manufacturers were forced to consider any techn

14、ological developments that could help improve productivity. It became imperative to produce better products at lower costs in order to be competitive with foreign manufacturers. Other factors such as the need to find better ways of performing dangerous manufacturing tasks contributed to the develop

15、ment of industial robots. However, the principal rationale has always been, and is still, improved productivity. One of the principal advantages of robots is that they can be used in settings that are dangerous to humans. Welding and parting are examples of applications where robots can be used mor

16、e safely than humans. Even though robots are closely associated with safety in the workplace, they can, in themselves, be dangerous. Robots and robot cells must be carefully designed and configured so that they do not endanger human workers and other machines. Robot work envelops should be accurate

17、ly calculated and a danger zone surrounding the envelope clearly marked off. Red flooring strips and barries can be used to keep human workers out of a robot’s work envelope. Even with such precautions it is a good idea to have an automatic shutdown system in situations where robots are used. Such

18、a system should have the capacity to sense the need for an automatic shutdown of operations. Fault-tolerant computers and redundant systems can be installed to ensure proper shutdown of robotics systems to ensure a safe enviroment. About componets of a robot system, the componets of a robot system

19、could be discussed either from a systems point of view. Physically, we could divide the system, and controller (computer) . Likewise, the robot itself could be partitioned anthropomorphically into base, shoulder, elbow, wrist, gripper, and tool. Most of these terms require little explanation. Conse

20、quently, we will describe the components of a robot system from the point of view of information transfer. That is, what information or signal enters the component; what logical or arithmetic operation does the component perform; and what information or signal does the component produce? It is impor

21、tant to note that the same physical component may performs many different information processing operations ( e. g. , a central computer performs many different calculations on different data ) . Likewise, two physically separate components many perform identical informations ( e .g . , the shoulder

22、 and elbow actuators both convert signals to motion in very similar ways ) . 中文： 工業(yè)機器人 有許多關(guān)于機器人這個術(shù)語的定義。采用不同的定義，全世界各地機器人的數(shù)量就會發(fā)生很大的改變。在制造工廠中使用的許多但用途機器可能會看起來像機器人。這些機器是硬連線的，用來完成單一的工作，不能通過重新編程的方法去完成不同的工作。這種單用途的機器不能滿足被人們?nèi)找鎻V泛接受的關(guān)于工業(yè)機器人的定義。這個定義是由美國機器人協(xié)會提出的: 機器人是一個可以改編程序的多

23、功能操作器，被設(shè)計用來按預(yù)先編制的，能夠完成多種作業(yè)的運動程序運送材料，零件，工具或者專用設(shè)備。 注意在這個定義中包含有“可以改編程序”和“多功能”這兩個詞。正是這兩個詞將真正的機器人與現(xiàn)代制造工廠中使用的單一用途的機器區(qū)分開來?！翱梢愿木幊绦颉边@個術(shù)語意味著兩件事：機器人根據(jù)編寫的程序工作，以及可以通過重新編程來適應(yīng)不同種類的制造工作的需要。 “多功能”這個詞意味著機器人能通過編程和使用不同的末端執(zhí)行機構(gòu)，來完成不同的制造工作。圍繞著兩個關(guān)鍵特征所撰寫的定義正在變成為制造業(yè)的專業(yè)人員接受的定義。 第一個帶有活動關(guān)節(jié)的手臂于1951年被研制出來，由美國原子能委員會使用。在1954年，第一

24、個可以編程的機器人由喬治狄弗設(shè)計出來。他基于下面來兩項重要技術(shù)： （1） 數(shù)字控制（NC）技術(shù)。 （2） 遠(yuǎn)程操作器技術(shù)。 數(shù)字控制技術(shù)提供了一種非常適合機器人的機器控制技術(shù)。它可以通過存儲的程序?qū)\動進(jìn)行控制。這些程序包含機器人進(jìn)行順序運動的數(shù)據(jù)，開始運動和停止運動的時間控制信號，以及作出決定所需要的邏輯語句。 遠(yuǎn)程操作器技術(shù)使得一臺機器的性能超出一臺數(shù)控機器。它可以使這種機器能夠在不容易進(jìn)入和不安全的環(huán)境中完成各種制造任務(wù)。通過融合了上述兩種技術(shù)，狄弗研制出第一個機器人，它是一個不復(fù)雜的，可以編程的物料運送機器人。 第一臺商業(yè)化生產(chǎn)的機器人在1959年研制成功。通用汽車公司在19

25、62年安裝了第一臺用于生產(chǎn)線上的工業(yè)機器人，它是尤尼梅森公司生產(chǎn)的。在1973年，辛辛提那米蘭克朗公司研制出T-3工業(yè)機器人，在機器人的控制方面取得了較大的進(jìn)展。T-3機器人是第一臺商業(yè)化生產(chǎn)的采用計算機控制的機器人。 數(shù)字控制技術(shù)和遠(yuǎn)程操作器技術(shù)推動了大范圍的機器人研制和應(yīng)用。但是主要的技術(shù)進(jìn)步并不僅僅是由于這些新的應(yīng)用能力而產(chǎn)生的，而是必須有利用這些能力所得到的效益來提供動力。就工業(yè)機器人而言，這個動力是經(jīng)濟性。 在20世紀(jì)70年代中，工資的快速增長大大增加了制造業(yè)的企業(yè)中的人工費用。與此同時，來自國外的競爭成為美國制造業(yè)所面臨的嚴(yán)重考驗。諸如日本等外國的制造廠家在廣泛的應(yīng)用了自動化技

26、術(shù)之后，其工業(yè)產(chǎn)品，特別是汽車，在美國和世界市場中占據(jù)了日益增大的份額。 通過采用包括機器人在內(nèi)的各種自動化技術(shù)，從70年代開始，日本的制造廠家能夠比沒有采用自動化技術(shù)的美國制造廠家生產(chǎn)更多的和更便宜的汽車。隨后，為了生存，美國制造廠家進(jìn)行競爭，必須以比較低的成本，生產(chǎn)出更好的產(chǎn)品。其他的因素，注入尋找能夠更好的完成帶有危險性的制造工作的方式也促進(jìn)了工業(yè)機器人的發(fā)展。但是，主要的理由一直是，而且現(xiàn)在仍然是提高生產(chǎn)率。 機器人的一個優(yōu)點是它們可以在相對于人類來說是危險的環(huán)境中工作。采用機器人進(jìn)行焊接和切斷工作室比由人工來完成這些工作更安全的例子。盡管機器人與工作地點的安全密切相關(guān)，它們本身也

27、可能是危險的。 應(yīng)該仔細(xì)的設(shè)計和配置機器人和機器人單元，使它們不會傷害人類和其他機器。應(yīng)該精確的計算出機器人的工作范圍，并且在這個范圍的四周清晰地標(biāo)出危險區(qū)域?？梢圆捎迷诘厣蟿澇黾t顏色的線和設(shè)置障礙物以阻止工人進(jìn)入機器人的工作范圍。 即使有了這些預(yù)防措施，在使用機器人的場地中設(shè)置一個自動停止工作的系統(tǒng)仍然不失為一個好主意。機器人這個系統(tǒng)應(yīng)該具有能夠檢測出是否有需要自動停止工作的要求的能力。為了保證能有一個安全的環(huán)境，應(yīng)當(dāng)安裝容錯計算機和冗余系統(tǒng)來保證在適當(dāng)?shù)臅r候停止機器人的工作。 關(guān)于機器人系統(tǒng)的組成部分，可以從物質(zhì)的觀點也可以從系統(tǒng)的觀點來討論機器人系統(tǒng)的組成部分。從物質(zhì)上看，我們可以

28、將機器人分為機器人，電源系統(tǒng)和控制器（計算機）。機器人本身可以像人一樣被分為基座，肩，肘，腕，抓持器和工具。這些術(shù)語中的大部分不需要做任何解釋。 因此，我們將根據(jù)信息傳遞的觀點來描述機器人系統(tǒng)的組成部分。也就是，什么信息或者信號進(jìn)入計算機的組成部分，這個組成部分進(jìn)行何種邏輯或者算術(shù)運算，這個組成部分產(chǎn)生什么信息或者信號？應(yīng)該認(rèn)識到，同一個組成部分可以完成許多不同的信息處理工作（例如，中心計算機可以根據(jù)不同的數(shù)據(jù)進(jìn)行許多不同種類的計算），這一點是很重要的。與之相似，在結(jié)構(gòu)上分開的兩個組成部分可以進(jìn)行相同的信息操作（例如，肩部和肘部的執(zhí)行機構(gòu)用非常相似的方式將信息轉(zhuǎn)換為運動）。 注：出自《機械工程專業(yè)英語》