1、 附录 1 Industrial Robots and Electric drive system There are a 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
2、 machines are hardwired to perform a single function and cannot be reprogrammed to perform 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
3、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. Note that this definition contains the words reprogrammable and multifunctional. It is these two characteristics
4、 that separate the true industrial robot from the various single-purpose machines used in modern manufacturing firms. The term “reprogrammable” implies two things: The robot operates accommodate a variety of manufacturing tasks. The term “multifunctional” means that the robot can, through reprogramm
5、ing and the use of different end-effectors, perform a number of different manufacturing tasks. Definitions written around these two critical characteristics are becoming the accepted definitions among manufacturing professionals. The first articulated arm came about in 1951 and was used by the U.S.
6、Atomic Energy Commission. In 1954, the first programmable robot was designed by George Devil. It was based on two important technologies: Numerical control (NC) technology. Remote manipulator technology. Numerical control technology provided a form of machine control ideally suited to robots. It all
7、owed for the control of motion by stored programs. These programs contain data points to which the robot sequentially moves, timing signals to initiate action and to stop movement, and logic statements to allow for decision making. Remote manipulator technology allowed a machine to be more than just
8、 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, Devil developed the first industrial robot, an unsophisticated programmable materials handling machine. Th
9、e first commercially produced robot was developed in 1959. In 1962, the first industrial robot to be used on a production line was installed by General Motors Corporation. This robot was produced by Animation. A major step forward in robot control occurred in 1973 with the development of the T-3 ind
10、ustrial robot 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 roots. But major technological developments do not take
11、 place simply 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 manufacturin
12、g firms. 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, particular
13、ly automobiles. Through a variety of automation techniques, including robots, Japanese manufacturers, beginning in the 1970s, were able to produce better automobiles more cheaply than no automatedU.S. manufacturers. Consequently, in order to survive, U.S. manufacturers were forced to consider any te
14、chnological developments that could help improve productivity. Though a variety of automation techniques, including robots, Japanese manufacturers, beginning in the 1970s, were able to produce better automobiles more cheaply than no automatedU.S. manufacturers. Consequently, in order to survive, U.S
15、. manufacturers were forced to consider any technological 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 dangerou
16、s manufacturing tasks contributed to the development of industrial 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 examp
17、les of applications where robots can be used more 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 m
18、achines. Robot work envelopes should be accurately calculated and a danger zone surrounding the envelope clearly marked off. Red flooring strips and barriers can be used to keep human workers out of a robots work envelope. Even with such precautions it is still a good idea to have an automatic shutd
19、own system in situations where robots are used. Such 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 environment. The robot elec
20、trically operated servo drive system sds is uses themoment of force and the strength which each kind of electric motorproduces, directly or indirectly actuates the robot main body toobtain the robot each kind of movement implementing agency. Theelectric motor actuates which to the industry robot joi
21、nt, the requesthas the maximum work rate quality compared to with the torque inertiacompared to, rises up the dynamic torque, the is low inertia andbroader also the smooth velocity modulation scope. Specially (handfingernail) should use the volume, the quality as far as possiblesmall electric motor
22、like the robot terminal execution, when inparticular requests the fast response, the servo motor must have ahigher reliability and the stability, and has the bigger momentaryoverload ability. This is the servo motor in the industry robot theapplication precondition. The robot actuates the electrical
23、 machinery to the joint overridingdemand the gauge natrium as follows: 1) rapidity. The electric motorfrom obtains the command signal to complete the active status timewhich the instruction requests to be supposed to be short. Responsecommand signal time shorter, the electricity servosystem sensitiv
24、ityhigher, the fast response performance is better, generally is explainsthe servo motor fast response by the servo motor mechanical andelectrical time-constant size the performance. 2) the starting momentinertia is bigger than. In in the actuation load situation, requeststhe robot the servo motor s
25、tarting moment in a big way, the rotationinertia is small. 3) the control characteristic continuity and thestraight line, along with the control signal change, the electricmotor rotational speed can continuously change, sometimes also needsthe rotational speed and the control signal has the direct r
26、atio orapproximately has the direct ratio. 4) modulates velocity the scope tobe wide. Can use to 1: 1,000 10,000 velocity modulation scopes. 5)the volume small, the quality small, the axial size is short. 6) canundergo the harsh movement condition, may carry on the extremelyfrequent pro and con to a
27、nd adds and subtracts the fast movement, andcan withstand the overload in the short time. Industry robot direct motor drive principle like chart 1 shows. Theindustry robot electrically operated servosystem general structure isthree closed-loops control, namely electric current link, speed ringand sn
28、ap ring. At present the overseas many electric motors producethe factory to develop the actuation product which suitably matcheswith the exchange servo motor, the user act according to oneself needthe function stress to choose the different servo-control waydifferently, in the ordinary circumstances
29、, exchanges the servo driverbelow, passable has carried on the artificial hypothesis to itsinternal function parameter to realize the function: 1) position control way； 2) speed control way； 3) torque control mode； 4) position, speed mixed mode； 5) position, torque mixed mode； 6)speed, torque mixed mode； 7) torque limitation； 8) the positiondeviation oversized reports to the police；
