機(jī)械學(xué)院 - 1 - 文 獻(xiàn) 翻 譯 外文原文： Robot After more than 40 years of development, since its first appearance till now, the robot has already been widely applied in every industrial fields, and it has become the important standard of industry modernization. Robotics is the comprehensive technologies that combine with mechanics, electronics, informatics and automatic control theory. The level of the robotic technology has already been regarded as the standard of weighing a national modern electronic-mechanical manufacturing technology. Over the past two decades, the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can perform certain basic more quickly and accurately than humans, they are being increasingly used in various manufacturing industries. With the maturation and broad application of net technology, the remote control technology of robot based on net becomes more and more popular in modern society. It employs the net resources in modern society which are already three to implement the operatio of robot over distance. It also creates many of new fields, such as remote experiment, remote surgery, and remote amusement. Whats more, in industry, it can have a beneficial impact upon the conversion of manufacturing means. The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements. 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 manufacturing tasks. The term “multipurpose” means that the robot can perform many different functions, depending on the program and tooling currently in use. Developed from actuating mechanism, industrial robot can imitation some actions and functions of human being, which can be used to moving all kinds of material components tools and so on, executing mission by execuatable program multifunction manipulator. It is extensive used in industry and agriculture production, astronavigatio n and military engineering. During the practical application of the industrial robot, the working efficiency and 機(jī)械學(xué)院 - 2 - 文 獻(xiàn) 翻 譯 quality are important index of weighing the performance of the robot. It becomes key problems which need solving badly to raise the working efficiencies and reduce errors of industrial robot in operating actually. Time-optimal trajectory planning of robot is that optimize the path of robot according to performance guideline of minimum time of robot under all kinds of physical constraints, which can make the motion time of robot hand minimum between two points or along the special path. The purpose and practical meaning of this research lie enhance the work efficiency of robot. Due to its important role in theory and application, the motion planning of industrial robot has been given enough attention by researchers in the world. Many researchers have been investigated on the path planning for various objectives such as minimum time, minimum energy, and obstacle avoidance. The basic terminology of robotic systems is introduced in the following: 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 other definitions, presented in the following paragraphs that give a complete picture of a robotic system. 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, 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 programming feature, an industrial robot is very much like a computer, where data can be stored and later recalled and edited. 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 degrees of freedom of the robot. A robot can have from 3 to 16 axes. The term degrees of freedom will always relate to the number of axes found on a robot. The tooling and grippers are not part of the robotic system itself: rather, they are attachments that fit on the end of the robots arm. These attachments connected to the end of the robots arm allow the robot to lift parts, spot-weld, paint, arc-well, drill, deburr, and do a variety of tasks, depending on what is required of the robot. 機(jī)械學(xué)院 - 3 - 文 獻(xiàn) 翻 譯 The robotic system can also control the work cell of the operating robot. The 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 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 source. Manipulator The manipulator, which dose 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. 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 anther. As mentioned previously, 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. These 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 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. 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 system. The actuator, 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 機(jī)械學(xué)院 - 4 - 文 獻(xiàn) 翻 譯 the drive system is converted 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 the robot. The mechanical linkages may be composed of chains, gears, and ball screws. Controller The controller in the robotic system is the heart of the operation. The controller stores preprogrammed information for later recall, controls peripheral devices, and communicates with computers within the plant for constant updates in production. The controller is used to control the robot manipulators movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hand-held teach pendant. This information is stored in the memory of the controller for later recall. The controller stores all program data for the robotic system. It can store several different programs, and any of these programs can be edited. The controller is also required to communicate with peripheral equipment within the work cell. For example, the controller has an input line that identifies when a machining operation is completed. When the machine cycle is completed, the input line turns 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 step through a sequence of events. This type of controller operates with a very simple robotic system. The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics. This is, they are microprocessor-operated. These microprocessors are either 8-bit, 16-bit, or 32-bit processors. This power allows the controller to the very flexible in its operation. The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. 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 controls any tooling placed on the end of the robots wrist. 機(jī)械學(xué)院 - 5 - 文 獻(xiàn) 翻 譯 The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part of a computer-assisted manufacturing (CAM) system. As the basic definition stated, the robot is a reprogrammable, multifunctional manipulator. Therefore, the controller must contain some type of memory storage. The microprocessor-based systems operate in conjunction with solid-state memory devices. These memory devices may be magnetic bubbles, random-access memory, floppy disks, or magnetic tape. Each memory storage device stores program information for later recall or for editing. Power supply The power supply is the unit that supplies power to the controller and the manipulator. Two types of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power is used for driving the various axes of the manipulator. 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. For each robotic system, power is required to operate the manipulator. This power can be developed from either a hydraulic power source, a pneumatic power source, or an electric power source. These power sources are part of the total components of the robotic work cell. Classification of Robots Industrial robots vary widely in size, shape, number of axes, degrees of freedom, and design configuration. Each factor influences the dimensions of the robots working envelope or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as blew. Fixed and Variable-Sequence Robots. The fixed-sequence robot (also called a pick-and place robot) is programmed for a specific sequence of operations. 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 playback robot and its end effector 機(jī)械學(xué)院 - 6 - 文 獻(xiàn) 翻 譯 through the desired 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 controlled robot is programmed and operated much like a numerically controlled machine. The robot is servo-controlled by digital data, and its sequence of movements can be changed with relative ease. Intelligent Robot. The intellingent robot is capable of performing some of the functions and tasks carried out by human beings. It is equipped with a variety of sensors with visual and tactile capabilities. Robot Applications The robot is a very special type of production tool； as a result, the applications in which robots are used are quite broad. These applications can be grouped into three categories: material processing, material handling and assembly. In material processing, robots use to process the raw material. For example, the robot tools could include a drill and the robot would be able to perform drilling operations on raw material. Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed reliably and repeatedly with robots, thereby improving quality and reducing scrap losses. Assembly is another large application area for using robotics. An automatic assembly system can incorporate automatic testing, robot automation and mechanical handling for reducing labor costs, increasing output and eliminating manual handling concerns. Hydraulic System There are only three basic methods of transmitting power: electrical, mechanical, and fluid power. Most applications actually use a combination of the three methods to obtain the most efficient overall system. To properly determine which principle method to use, it is important to know the salient features of each type. For example, fluid systems can transmit power more economically over greater distances than can mechanical type. However, fluid systems are restricted to shorter distances than are electrical systems. 機(jī)械學(xué)院 - 7 - 文 獻(xiàn) 翻 譯 Hydraulic power transmission systems are concerned with the generation, modulation, and control of pressure and flow, and in general such systems include: 1. Pumps which convert available power from the prime mover to hydraulic power at the actuator. 2. Valves which control the direction of pump-flow, the level of power produced, and the amount of fluid-flow to the actuators. The power level is determined by controlling both the flow and pressure level. 3. Actuators which convert hydraulic power to usable mechanical power output at the point required. 4. The medium, which is a liquid, provides rigid transmission and control as well as lubrication of components, sealing in valves, and cooling of the system. 5. Connectors which link the various system components, provide power conductors for the fluid under pressure, and fluid flow return to tank(reservoir). 6. Fluid storage and conditioning equipment which ensure sufficient quality and quantity as well as cooling of the fluid. Hydraulic systems are used in industrial applications such as stamping presses, steel mills, and general manufacturing, agricultural machines, mining industry, aviation, space technology, deep-sea exploration, transportation, marine technology, and offshore gas and petroleum exploration. In short, very few people get through a day of their lives without somehow benefiting from the technology of hydraulics. The secret of hydraulic systems success and widespread use is its versatility and manageability. Fluid power is not hindered by the geometry of the machine as is the case in mechanical systems. Also, power can be transmitted in almost limitless quantities because fluid systems are not so limited by the physical limitations of materials as are the electrical systems. For example, the performance of an electromagnet is limited by the saturation limit of steel. On the other hand, the power limit of fluid systems is limited only by the strength capacity of the material. Industry is going to depend more and more on automation in order to increase productivity. This includes remote and direct control of production operations, 機(jī)械學(xué)院 - 8 - 文 獻(xiàn) 翻 譯 manufacturing processes, and materials handling. Fluid power is the muscle of automation because of advantages in the following four major categories. 1. Ease and accuracy of control. By the use of simple levers and push buttons, the operator of a fluid power system can readily start, stop, speed up or slow down, and position forces which provide any desired horsepower with tolerances as precise as one ten-thousandth of an inch. Fig. shows a fluid power system which allows an aircraft pilot to raise and lower his landing gear. When the pilot moves a small control valve in one direction, oil under pressure flows to one end of the cylinder to lower the landing gear. To retract the landing gear, the pilot moves the valve lever in the opposite direction, allowing oil to flow into the other end of the cylinder. 2. Multiplication of force. A fluid power system (without using cumbersome gears, pulleys, and levers) can multiply forces simply and efficiently from a fraction of an ounce to several hundred tons of output. 3. Constant force or torque. Only fluid power systems are capable of providing constant force or torque regardless of speed changes. This is accomplished whether the work output moves a few inches per hour, several hundred inches per minute, a few revolutions per hour, or thousands of revolutions per minute. 4. Simplicity, safety, economy. In general, fluid power systems use fewer moving parts than comparable mechanical or electrical systems. Thus, they are simpler to maintain and operate. This, in turn, maximizes safety, compactness, and reliability. For example, a new power steering control designed has made all other kinds of power systems obsolete on many off-highway vehicles. The steering unit consists of a manually operated directional control valve and meter in a single body. Because the steering unit is fully fluid-linked, mechanical linkages, universal joints, bearings, reduction gears, etc. are eliminated. This provides a simple, compact system. In applications. This is important where limitations of control space require a small steering wheel and it becomes necessary to reduce operator fatigue. Additional benefits of fluid power systems include instantly reversible motion, 機(jī)械學(xué)院 - 9 - 文 獻(xiàn) 翻 譯 automatic protection against overloads, and infinitely variable speed control. Fluid power systems also have the highest horsepower per weight ratio of any known power source. In spite of all these highly desirable features of fluid power, it is not a panacea for all power transmission problems. Hydraulic systems also have some drawbacks. Hydraulic oils are messy, and leakage is impossible to completely eliminate. Also, most hydraulic oils can cause fires if an oil leak occurs in an area of hot equipment. Pneumatic System Pneumatic system use pressurized gases to transmit and control power. As the name implies, pneumatic systems typically use air (rather than some other gas ) as the fluid medium because air is a safe, low-cost, and readily available fluid. It is particularly safe in environments where an electrical spark could ignite leaks from system components. In pneumatic systems, compressors are used to compress and supply the necessary quantities of air. Compressors are typically of the piston, vane or screw type. Basically a compressor increases the pressure of a gas by reducing its volume as described by the perfect gas laws. Pneumatic systems normally use a large centralized air compressor which is considered to be an infinite air source similar to an electrical system where you merely plug into an electrical outlet for electricity. In this way, pressurized air can be piped from one source to various locations throughout an entire industrial plant. The compressed air is piped to each circuit through an air filter to remove contaminants which might harm the closely fitting parts of pneumatic components such as valve and cylinders. The air then flows through a pressure regulator which reduces the pressure to the desired level for the particular circuit application. Because air is not a good lubricant (contains about 20% oxygen), pneumatics systems required a lubricator to inject a very fine mist of oil into the air discharging from the pressure regulator. This prevents wear of the closely fitting moving parts of pneumatic components. Free air from the atmosphere contains varying amounts of moisture. This moisture can be harmful in that it can wash away lubricants and thus cause excessive wear and corrosion. Hence, in some applications, air driers are needed to remove this undesirable moisture. Since pneumatic systems exhaust directly into the atmosphere , they are capable of generating excessive noise. Therefore, mufflers are mounted on exhaust ports 機(jī)械學(xué)院 - 10 - 文 獻(xiàn) 翻 譯 of air valves and actuators to reduce noise and prevent operating personnel from possible injury resulting not only from exposure to noise but also from high-speed airborne particles. There are several reasons for considering the use of pneumatic systems instead of hydraulic systems. Liquids exhibit greater inertia than do gases. Therefore, in hydraulic systems the weight of oil is a potential problem when accelerating and decelerating and decelerating actuators and when suddenly opening and closing valves. Due to Newtons law of motion ( force equals mass multiplied by acceleration ), the force required to accelerate oil is many times greater than that required to accelerate an equal volume of air. Liquids also exhibit greater viscosity than do gases. This results in larger frictional pressure and power losses. Also, since hydraulic systems use a fluid foreign to the atmosphere , they require special reservoirs and no-leak system designs. Pneumatic systems use air which is exhausted directly back into the surrounding environment. Generally speaking, pneumatic systems are less expensive than hydraulic systems. However, because of the compressibility of air, it is impossible to obtain precise controlled actuator velocities with pneumatic systems. Also, precise positioning control is not obtainable. While pneumatic pressures are quite low due to compressor design limitations ( less than 250 psi ), hydraulic pressures can be as high as 10,000 psi. Thus, hydraulics can be high-power systems, whereas pneumatics are confined to low-power applications. Industrial applications of pneumatic systems are growing at a rapid pace. Typical examples include stamping, drilling, hoist, punching, clamping, assembling, riveting, materials handling, and logic controlling operations. 機(jī)械學(xué)院 - 11 - 文 獻(xiàn) 翻 譯 譯文： 工業(yè)機(jī)器人 機(jī)器人自問(wèn)世以來(lái)到現(xiàn)在，經(jīng)過(guò)了 40 多年的發(fā)展，已 被廣泛應(yīng)用于各個(gè)工業(yè)領(lǐng)域，已成為工業(yè)現(xiàn)代化的重要標(biāo)志。機(jī)器人技術(shù)是一門機(jī)械、電子、自動(dòng)控制理論及信息技術(shù)有機(jī)結(jié)合起來(lái)的綜合性工程技術(shù)。機(jī)器人技術(shù)發(fā)展水平己成為衡量一個(gè)國(guó)家現(xiàn)代機(jī)電制造技術(shù)的標(biāo)準(zhǔn)。 經(jīng)過(guò)過(guò)去 20 年的發(fā)展，機(jī)器人已經(jīng)進(jìn)入到工廠來(lái)完成許多單調(diào)的和不安全的操作任務(wù)。因?yàn)闄C(jī)器人可以比人更快更準(zhǔn)確地完成某些基本任務(wù)，所以機(jī)器人正在大量地應(yīng)用于各種制造企業(yè)。 隨著網(wǎng)絡(luò)技術(shù)的成熟和廣泛應(yīng)用，機(jī)器人網(wǎng)絡(luò)遠(yuǎn)程控制技術(shù)在現(xiàn)代社會(huì)中有了越來(lái)越大的應(yīng)用空間。它充分利用已在現(xiàn)代社會(huì)中廣泛存在的網(wǎng)路設(shè)施實(shí)現(xiàn)機(jī)器人操作者和 機(jī)器人之間的遠(yuǎn)距離交互。它開(kāi)辟了遠(yuǎn)程實(shí)驗(yàn)、遠(yuǎn)程醫(yī)療和遠(yuǎn)程娛樂(lè)等諸多嶄新的應(yīng)用領(lǐng)域。機(jī)器人網(wǎng)絡(luò)遠(yuǎn)程控制技術(shù)在工業(yè)領(lǐng)域的應(yīng)用還能在推進(jìn)企業(yè)信息化和實(shí)現(xiàn)企業(yè)生產(chǎn)方式的轉(zhuǎn)變的進(jìn)程中發(fā)揮重要作用。 機(jī)器人的主要優(yōu)點(diǎn)在于可重復(fù)編程和多功能性，因?yàn)榇蠖鄶?shù)功能單一的機(jī)器不能滿足這兩種要求?！翱芍貜?fù)編程”包含兩層含義：機(jī)器人根據(jù)已設(shè)定的程序運(yùn)轉(zhuǎn)，并且這個(gè)程序可以被重寫以適應(yīng)多種制造任務(wù)。“多功能”意味著機(jī)器人可以擁有多種不同的功能，這依賴于當(dāng)前正在使用的程序和工具。 工業(yè)機(jī)器人是在自動(dòng)操作機(jī)基礎(chǔ)上發(fā)展起來(lái)的一種能模仿人的某些 動(dòng)作和功能，可以用于移動(dòng)各種材料、零件、工具等，通過(guò)可編程序動(dòng)作來(lái)執(zhí)行各種任務(wù)的，并具有編程能力的多功能機(jī)械手。它綜合了精密機(jī)械，控制傳感和自動(dòng)控制技術(shù)等領(lǐng)域的最新成果，并廣泛應(yīng)到工農(nóng)業(yè)生產(chǎn)、航天航空和軍事等領(lǐng)域。 在工業(yè)機(jī)器人的實(shí)際應(yīng)用中，工作效率和質(zhì)量是衡量機(jī)器人性能的重要指標(biāo)，提高工業(yè)機(jī)器人的工作效率，減小實(shí)際操作中的誤差成為工業(yè)機(jī)器人應(yīng)用亞需解決的關(guān)鍵性問(wèn)題。機(jī)器人的時(shí)間最優(yōu)軌跡規(guī)劃是指以時(shí)間最短作為性能指標(biāo)并在滿足各種約束的條件下優(yōu)化機(jī)器人的運(yùn)動(dòng)軌跡，使機(jī)器人手部在兩點(diǎn)之間或沿著規(guī)定軌跡運(yùn)動(dòng)的時(shí)間 最短，進(jìn)行這項(xiàng)研究的目的和實(shí)際意義在于提高工業(yè)機(jī)器人的工作效率。 工業(yè)機(jī)器人是機(jī)器人家族中的一個(gè)重要分支，是機(jī)器人領(lǐng)域的重要研究發(fā)展方向。因此，對(duì)工業(yè)機(jī)器人運(yùn)動(dòng)路徑規(guī)劃的研究，一直受到人們的普遍關(guān)注?；谧钌贂r(shí)間、最少能量和避障等的不同目標(biāo)，許多研究學(xué)者對(duì)路徑規(guī)劃問(wèn)題進(jìn)行 機(jī)械學(xué)院 - 12 - 文 獻(xiàn) 翻 譯 了探索 如下敘述的是機(jī)器人系統(tǒng)基本術(shù)語(yǔ)： 機(jī)器人是一個(gè)可編程、多功能的機(jī)械手，通過(guò)給要完成的不同任務(wù)編制各動(dòng)作，它可以移動(dòng)零件、材料、工具以及特殊裝置。這個(gè)基本定義引導(dǎo)出后續(xù)段落的其他定義，從而描繪出一個(gè)完整的機(jī)器人系統(tǒng)。 預(yù)編程位置點(diǎn)是機(jī) 器人為完成工作而必須跟蹤的軌跡。在某些位置點(diǎn)上機(jī)器人將停下來(lái)做某些操作，如裝配零件、噴涂油漆或焊接。這些預(yù)編程點(diǎn)儲(chǔ)存在機(jī)器人的儲(chǔ)存器中，并為后續(xù)的連續(xù)操作所調(diào)用，而且這些預(yù)編程點(diǎn)像其他程序數(shù)據(jù)一樣，可在日后隨工作需要而變化。因而，正是這種可編程的特征，一個(gè)工業(yè)機(jī)器人很像一臺(tái)計(jì)算機(jī)，數(shù)據(jù)可在這里儲(chǔ)存、后續(xù)調(diào)用與編輯。 機(jī)械手是機(jī)器人的手臂，它使機(jī)器人能彎曲、延伸和旋轉(zhuǎn)，提供這些運(yùn)動(dòng)的是機(jī)械手的軸，亦是所謂的機(jī)械人的自由度。一個(gè)機(jī)械人能有 3 至 16 軸，自由度一詞總是與機(jī)器人軸數(shù)相關(guān)。 這些連在機(jī)器人手臂末端的附件 可使機(jī)器人抬起工件、點(diǎn)焊、刷漆、電弧焊、鉆孔、打毛刺以及根據(jù)機(jī)器人的要求去做各種各樣的工作。 機(jī)器人系統(tǒng)還可以控制機(jī)器人的工作單元，工作單元是機(jī)器人執(zhí)行任務(wù)所處的整體環(huán)境，該單元包括控制器、機(jī)械手、工作平臺(tái)、安全保護(hù)裝置或者傳輸裝置。所有這些為保證機(jī)器人完成自己任務(wù)而必須的裝置都包括在這一工作單元中。另外，來(lái)自外設(shè)的信號(hào)與機(jī)器人通訊，通知機(jī)器人何時(shí)裝配工件、取工件或放工件到傳輸裝置上。工具和手爪不是機(jī)器人自身組成部分，但它們是安裝在機(jī)器人手臂末端的附件。 機(jī)器人系統(tǒng)有三個(gè)基本部件：機(jī)械手、控制器和動(dòng)力源。 機(jī)械手 機(jī)械手做機(jī)器人系統(tǒng)中粗重工作，它包括兩個(gè)部分：機(jī)構(gòu)和構(gòu)件，機(jī)械手也有聯(lián)接附件基座。 機(jī)械手基座通常固定在工作區(qū)域的地基上，有時(shí)基座也可以移動(dòng)，在這種情況下基座安裝在導(dǎo)軌或軌道上，允許機(jī)械手從一個(gè)位置移到另外一個(gè)位置。 正如前面所提到的那樣，附件從機(jī)器人基座上延伸出來(lái)，附件就是機(jī)器人的手臂，它可以是直動(dòng)型，也可以是軸節(jié)型手臂，軸節(jié)型手臂也是大家所知的關(guān)節(jié)型手臂。 機(jī)械臂使機(jī)械手產(chǎn)生各軸的運(yùn)動(dòng)。這些軸連在一個(gè)安裝基座上，然后再連到 機(jī)械學(xué)院 - 13 - 文 獻(xiàn) 翻 譯 拖架上，拖架確保機(jī)械手停留在某一位置。 在手臂的末端上，連接著手腕 ，手腕由輔助軸和手腕凸緣組成，手腕是機(jī)器人用戶在手腕凸緣上安裝不同工具來(lái)做不同種工作。 機(jī)械手的軸使機(jī)械手在某一區(qū)域內(nèi)執(zhí)行任務(wù)，我們將這個(gè)區(qū)域成為機(jī)器人的工作單元，該區(qū)域的大小與機(jī)械手的尺寸相對(duì)應(yīng)。隨著機(jī)器人的機(jī)械結(jié)構(gòu)尺寸的增加，工作單元的范圍也必須相應(yīng)增加。 機(jī)械手的運(yùn)動(dòng)由執(zhí)行元件或驅(qū)動(dòng)系統(tǒng)來(lái)控制。執(zhí)行元件或驅(qū)動(dòng)系統(tǒng)允許各軸在工作單元內(nèi)驅(qū)動(dòng)。驅(qū)動(dòng)系統(tǒng)可用電氣、液壓和氣壓動(dòng)力，驅(qū)動(dòng)系統(tǒng)所產(chǎn)生的動(dòng)力機(jī)構(gòu)轉(zhuǎn)變?yōu)闄C(jī)械能，驅(qū)動(dòng)系統(tǒng)與機(jī)械傳動(dòng)鏈相匹配。由鏈、齒輪和滾珠絲杠組成的機(jī)械傳動(dòng)鏈驅(qū)動(dòng)著機(jī)器人的各軸。 控制器 機(jī)器人控制器是工作單元的核心?？刂破鲀?chǔ)存著預(yù)編程序供后續(xù)調(diào)用、控制外設(shè)，及與廠內(nèi)計(jì)算機(jī)進(jìn)行通訊以滿足產(chǎn)品經(jīng)常更新的需要。 控制器用于控制機(jī)械手運(yùn)動(dòng)和在工作單元內(nèi)控制機(jī)器人外設(shè)。用戶可通過(guò)手持的示教盒將機(jī)械手運(yùn)動(dòng)的程序編入控制器。這些信息儲(chǔ)存在控制器的存儲(chǔ)器中以備后續(xù)調(diào)用，控制器儲(chǔ)存了機(jī)器人系統(tǒng)的所有編程數(shù)據(jù)，它能儲(chǔ)存幾個(gè)不同的程序，并且所有這些程序均能編輯。 控制器要求能夠在工作單元內(nèi)與外設(shè)進(jìn)行通信。例如控制器有一個(gè)輸入端，它能標(biāo)識(shí)某個(gè)機(jī)加工操作何時(shí)完成。當(dāng)該加工循環(huán)完成后，輸入端接通，告訴控制器定位機(jī)械手 以便能抓取已加工工件，隨后，機(jī)械手抓取一未加工件，將其放置在機(jī)床上。接著，控制器給機(jī)床發(fā)出開(kāi)始加工的信號(hào)。 控制器可以由根據(jù)時(shí)間順序而步進(jìn)的機(jī)械式輪鼓組成，這種類型的控制器可用在非常簡(jiǎn)單的機(jī)械系統(tǒng)中。用于大多數(shù)機(jī)器人系統(tǒng)中的控制器代表現(xiàn)代電子學(xué)的水平，是更復(fù)雜的裝置，即它們是由微處理器操縱的，這些微處理器可以是 8位， 16 位或 36 位處理器。它們可以使得控制器在操作過(guò)程中顯得非常柔性。 控制器能通過(guò)通信線發(fā)送電信號(hào)，使他能與機(jī)械手各軸交流信息，在機(jī)器人的機(jī)械手和控制器之間的雙向交流信息可以保持系統(tǒng)操作和位子經(jīng)常 更新，控制器也能年控制安裝在機(jī)器人手腕上的任何工具。 控制器也有與廠內(nèi)各計(jì)算機(jī)進(jìn)行通信的任務(wù)，這種通信聯(lián)系使機(jī)器人成為計(jì)算機(jī)輔助制造（ CAM）系統(tǒng)的一個(gè)組成部分。 存儲(chǔ)器?；谔幚砥鞯南到y(tǒng)運(yùn)行時(shí)要與固態(tài)的存儲(chǔ)裝置相連，這些存儲(chǔ)裝置 機(jī)械學(xué)院 - 14 - 文 獻(xiàn) 翻 譯 可以是磁泡，隨機(jī)存儲(chǔ)器、軟盤、磁帶等。每種記憶存儲(chǔ)裝置均能儲(chǔ)存、編輯信息以備后續(xù)調(diào)用和編輯。 動(dòng)力源 動(dòng)力源是個(gè)機(jī)器人和機(jī)械手提供動(dòng)力的單元。傳給機(jī)器人系統(tǒng)的動(dòng)力源有兩種，一種是用于控制器的交流電，另一種是用于驅(qū)動(dòng)機(jī)械手各軸的動(dòng)力源，例如，如果機(jī)器人的機(jī)械手是由液壓和氣壓驅(qū)動(dòng)的，控 制信號(hào)便傳送到這些裝置中，驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。 對(duì)于每一個(gè)機(jī)器人系統(tǒng)，動(dòng)力源是用來(lái)操縱機(jī)械手的。這些動(dòng)力可來(lái)源于液壓動(dòng)力源、氣壓動(dòng)力源或電源，這些能源是機(jī)器人工作單元整體的一部分。 機(jī)器人的分類 工業(yè)機(jī)器人在尺寸、形狀、坐標(biāo)數(shù)量、自由度和設(shè)計(jì)構(gòu)造上都多種多樣。每個(gè)因素都影響著機(jī)器人的工作范圍或它能夠運(yùn)動(dòng)和執(zhí)行指定任務(wù)的空間區(qū)域。廣義的機(jī)器人分類如下所述。 固定順序和可變順序的機(jī)器人。固定順序機(jī)器人（也稱為拾取和定位機(jī)器人）是為完成一系列特定的操作而進(jìn)行編程實(shí)現(xiàn)的。它的運(yùn)動(dòng)是點(diǎn)到點(diǎn)的，并且可以不斷循環(huán)?？勺冺樞?機(jī)器人是為完成特定順