1、中文 2600 字 附录 外文文献 原文 Industrial Robots Definition “A robot is a reprogrammable,multifunctional machine designed to manipulate materials,parts,tools,or specialized devices,through variable programmed motions for the performance of a variety of tasks.” -Robotics Industries Association “A robot is an a
2、utomatic device that performs functions normally ascribrd to humans or a machine in orm of a human.” -Websters Dictionary The industrial robot is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that
3、 might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harm
4、ful amounts of radiation . The industrial robot can also operate on the assembly line , putting together small components , 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 pr
5、ogrammed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society . The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will p
6、erform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off . The basic terminolo
7、gy of robotic systems is introduced in the following : 1. A robot is a reprogrammable , multifunctional manipulator designed to move parts , materials , tools , or special devices through variable programmed motions for the performance of a variety of different task . This basic definition leads to
8、other definitions , presented in the following paragraphs , that give a complete picture of a robotic system . 2. Preprogrammed locations are paths that the robot must follow to accomplish work . At some of these locations , the robot will stop and perform some operation , such as assembly of parts
9、, spray painting , or welding . These preprogrammed locations are stored in the robots memory and are recalled later for continuous operation . Furthermore , these preprogrammed locations , as well as other program data , can be changed later as the work requirements change . Thus , with regard to t
10、his programming feature , an industrial robot is very much like a computer , where data can be stored and later recalled and edited . 3. The manipulator is the arm of the robot . It allows the robot to bend , reach , and twist . This movement is provided by the manipulators axes , also called the de
11、grees of freedom of the robot . A robot can have from 3 to 16 axes . The term degrees of freedom of freedom will always relate to the number of axes found on a robot . 4. The tooling and grippers are not part of the robotic system itself ； rather , they are attachments that fit on the end of the rob
12、ots arm . These attachments connected to the end of the robots arm allow the robot to lift parts , spot-weld , paint , arc-weld , drill , deburr , and do a variety of tasks , depending on what is required of the robot . 5. The robotic system can also control the work cell of the operating robot . th
13、e work cell of the robot is the total environment in which the robot must perform its task . Included within this cell may be the controller , the robot manipulator , a work table , safety features , or a conveyor . All the equipment that is required in order for the robot to do its job is included
14、in the work cell . In addition , signals from outside devices can communicate with the robot in order to tell the robot when it should assemble parts , pick up parts , or unload parts to a conveyor . The robotic system has three basic components : the manipulator , the controller , and the power sou
15、rce . A . Manipulator The manipulator , which does the physical work of the robotic system , consists of two sections : the mechanical section and the attached appendage . The manipulator also has a base to which the appendages are attached . Fig.1 illustrates the connection of the base and the appe
16、ndage of a robot . The base of the manipulator is usually fixed to the floor of the work area . Sometimes , though , the base may be movable . In this case , the base is attached to either a rail or a track , allowing the manipulator to be moved from one location to another . As mentioned previously
17、 , the appendage extends from the base of the robot . The appendage is the arm of the robot . It can be either a straight , movable arm or a jointed arm . the jointed arm is also known as an articulated arm . The appendages of the robot manipulator give the manipulator its various axes of motion . T
18、hese axes are attached to a fixed base , which , in turn , is secured to a mounting . This mounting ensures that the manipulator will remain in one location。 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 the robot
19、user to connect different tooling to the wrist for different jobs . The manipulators axes allow it to perform work within a certain area . This area is called the work cell of the robot , and its size corresponds to the size of the manipulator . Fig.2 illustrates the work cell of a typical assembly
20、robot . As the robots physical size increases , the size of the work cell must also increase . The movement of the manipulator is controlled by actuators , or drive systems . The actuators , or drive system , allows the various axes to move within the work cell . The drive system can use electric , hydraulic , or pneumatic power . The energy developed by the drive system is converted to mechanical power by various mechanical drive systems .The drive systems are coupled through mechanical
