1、Robot the industrial robot is a tool that is used in the manufacturing environment to increase productivity.It can perform jobs that mights be hazardous to the human worker.One of the first industrial robots was used to replace the nuclear power plants.The industrial robot can also operate on the as
2、sembly line such as placing electronic components on a printed circuit board .Thus ,the human worker can be relieved of the routine operation of this tedious task .Robots can also be programmed to defuse bombs,to serve the handicapped ,and to perform functions in numerous applications in our society
3、. A robot is a reprogrammable,multifunctional manipulator designed to more parts,materials tools or special devices through variable pregrammed locations for the performance of a variety of different tasks. Preprogrammed locations are paths that the robot must follow to accomplish work.At some of th
4、ese locations ,the robot will stop and perform some operation,such as assembly of parts,spray painting,or welding.These ppreprogrammed locations are stored in the robots memory and are recalled later for continous operation.Furthermore,these preprogrammed locations,as well as other program data,can
5、be changed later as the work requirements change .Thus ,with regard to this programming feature,an industrial robot is very much like a computer. The robotic system can also control the work cell of the operating robot.The work cell of the robot is the total enviroment in which the robot must perfor
6、m its task.Included within this cell may be the robot manipulator,controller,a work table ,safety features,or a conveyor.In addition, signals from outside device can communicate with the robot. The manipulator,which does the physical work of the robotic system,consists of two sections:the mechanical
7、 section and the attached appendage.The manipulator also has a base to which the appendages are attached.The base of the manipulator is usually fixed to the floor of the work area.Sometimes,through,the base may be movable.In this case,the base is attached to either a rail or a track,allowing the man
8、ipulator to be moved from one location to another. the manipulator is mainly composed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according to is grasped holds the thing shape, the size, the weight, the material and the work request has many kin
9、ds of structural styles, like the clamp, the request hold and the adsorption and so on. The motion, causes the hand to complete each kind of rotation (swinging), the migration or the compound motion realizes the stipulation movement, changes is grasped holds the thing position and the posture. Motio
10、ns fluctuation, the expansion, revolving and so on independence movement way, is called manipulators degree-of-freedom. In order to capture in the space the optional position and the position object, must have 6 degrees-of-freedom. The degree-of-freedom is the key parameter which the manipulator des
11、igns. The degree-of-freedom are more, manipulators flexibility is bigger, the versatility is broader, its structure is also more complex. Generally the special-purpose manipulator has 23 degrees-of-freedom. The appendage is the arm of the robot.It can be either a straight,movable arm or a jointed ar
12、m and gives the manipulator its various axes of motion.The jointed arm is also known as an articulated arm.At the end of the arm,a wrist is connected.The wrist is made up of additional axes and a wrist flange.The wrist flange allows therobot user to connectdifferent tooling to the wrist for differen
13、t jobs.The manipulatorsaxes allow it to perform work within acertain area.This area is called the work cell of the robot,and its size corresponds to the size of the manipulator.As the robotphysical size increases,the size of the work cell must also increase. The movement of the manipulator is contro
14、lled by actuators, or drive system can use electric,hydraulic,or pneumatic power.The energy developed by the drive system is convered to mechanical power by various mechanical drive systems.The drive systems are coupled through mechanical linkages.These linkages,in turn,drive the different axes of t
15、he robot. The mechanical linkages may be composed of chains,geas,and ball screws. The controller is used to control the robot manipulatormovements as well as to control peripheral components within the work cell.The user can program themovements of the manipulator into the controller through the use
16、 of a hand-held teach pendant.This information is stored in the memory of the controller for later recall. The controller is also required to communicate with peripheral equipment within the work cell.For example,a controller has an input line.When the machine cycle is completed,the input line turns
17、 on ,telling the controller to position the manipulator so that it can pick up the finished part.Then ,a new part is picked up by the manipulator and placed into the machine.Next,the controller signals the machine to start operation. The controller can be made from mechanically operated drums that s
18、tep through a sequence of events.This type of controller operates with simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics.That is,they are microprocessor-operated.This power allows the controller to be ve
19、ry flexible in its operation. The controller can send electric signals over communication lines.This two- way communication between the robot manipulator and the controller maintains a constant update of the location and the operation of the system.The controller also has the job of communicating wi
20、th the different plant computer.The communication link establishes the robot as part of a computer-assisted manufacturing(CAM)system.The microprocessor-based systems operate in conjunction with solid-state memory devices.These memory devices may be magnetic bubbles,random-access memory,floppy disk,o
21、r magnetic tape. The power supply is the unit that supplies power to the controller and the manipulator.Two types of power are delived to the robotic system.One type of power is the Acpower for operation of the controller.The other type of power is used for driving the various axes of the manipulato
22、r.For example,if the robot manipulator is controlled by hydraulic or pneumatic drives,control signals are sent to these devices,causing motion of the robot. Industrial robots vary widely in size ， shape， number of axes， degrees of freedom， and design configuration .Each factor influences the dimensi
23、ons of the robots working envelop or the volume of space within which it can move and perform its designated task.A broader classification of robots can been described as below. Fixed-and Variable-Sequence Robots .The fixed-sequence robot(also called a pick-and place robot)is programmed for a specif
24、ic sequence of operqtions.Its movements are from point to point ,and the cycle is repeated continuously.The variable-sequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation. Playback Robot.An operator leads or walks the
25、playback robot and its end effector through the deired path .The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator. Numerically Controlled Robot.The numerically cantrolled robot is programmed and operated
