附錄1IndustrialRobotsandElectricdrivesystemThereareavarietyofdefinitionsofthetermrobot.Dependingonthedefinitionused,thenumberofrobotinstallationsworldwidevarieswidely.Numeroussingle-purposemachinesareusedinmanufacturingplantsthatmightappeartoberobots.Thesemachinesarehardwiredtoperformasinglefunctionandcannotbereprogrammedtoperformadifferentfunction.Suchsingle-purposemachinesdonotfitthedefinitionforindustrialrobotsthatisbecomingwidelyaccepted.ThisdefinitionwasdevelopedbytheRobotInstituteofAmerica:Arobotisareprogrammablemultifunctionalmanipulatordesignedtomovematerial,parts,tools,orspecializeddevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyoftasks.Notethatthisdefinitioncontainsthewordsreprogrammableandmultifunctional.Itisthesetwocharacteristicsthatseparatethetrueindustrialrobotfromthevarioussingle-purposemachinesusedinmodernmanufacturingfirms.Theterm“reprogrammable”impliestwothings:Therobotoperatesaccommodateavarietyofmanufacturingtasks.Theterm“multifunctional”meansthattherobotcan,throughreprogrammingandtheuseofdifferentend-effectors,performanumberofdifferentmanufacturingtasks.Definitionswrittenaroundthesetwocriticalcharacteristicsarebecomingtheaccepteddefinitionsamongmanufacturingprofessionals.Thefirstarticulatedarmcameaboutin1951andwasusedbytheU.S.AtomicEnergyCommission.In1954,thefirstprogrammablerobotwasdesignedbyGeorgeDevil.Itwasbasedontwoimportanttechnologies:Numericalcontrol(NC)technology.Remotemanipulatortechnology.Numericalcontroltechnologyprovidedaformofmachinecontrolideallysuitedtorobots.Itallowedforthecontrolofmotionbystoredprograms.Theseprogramscontaindatapointstowhichtherobotsequentiallymoves,timingsignalstoinitiateactionandtostopmovement,andlogicstatementstoallowfordecisionmaking.RemotemanipulatortechnologyallowedamachinetobemorethanjustanotherNCmachine.Itallowedsuchmachinestobecomerobotsthatcanperformavarietyofmanufacturingtasksinbothinaccessibleandunsafeenvironments.Bymergingthesetwotechnologies,Devildevelopedthefirstindustrialrobot,anunsophisticatedprogrammablematerialshandlingmachine.Thefirstcommerciallyproducedrobotwasdevelopedin1959.In1962,thefirstindustrialrobottobeusedonaproductionlinewasinstalledbyGeneralMotorsCorporation.ThisrobotwasproducedbyAnimation.Amajorstepforwardinrobotcontroloccurredin1973withthedevelopmentoftheT-3industrialrobotbyCincinnatiMilacron.TheT-3robotwasthefirstcommerciallyproducedindustrialrobotcontrolledbyaminicomputer.Numericalcontrolandremotemanipulatortechnologypromptedthewide-scaledevelopmentanduseofindustrialroots.Butmajortechnologicaldevelopmentsdonottakeplacesimplybecauseofsuchnewcapabilities.Somethingmustprovidetheimpetusfortakingadvantageofthesecapabilities.Inthecaseofindustrialrobots,theimpetuswaseconomics.Therapidinflationofwagesexperiencedinthe1970stremendouslyincreasedthepersonnelcostsofmanufacturingfirms.Atthesametime,foreigncompetitionbecameaseriousproblemforU.S.manufacturers.Foreignmanufacturerswhohadundertakenautomationonawide-scalebasis,suchasthoseinJapan,begantogainanincreasinglylargeshareoftheU.S.andworldmarketformanufacturedgoods,particularlyautomobiles.Throughavarietyofautomationtechniques,includingrobots,Japanesemanufacturers,beginninginthe1970s,wereabletoproducebetterautomobilesmorecheaplythannoautomatedU.S.manufacturers.Consequently,inordertosurvive,U.S.manufacturerswereforcedtoconsideranytechnologicaldevelopmentsthatcouldhelpimproveproductivity.Thoughavarietyofautomationtechniques,includingrobots,Japanesemanufacturers,beginninginthe1970s,wereabletoproducebetterautomobilesmorecheaplythannoautomatedU.S.manufacturers.Consequently,inordertosurvive,U.S.manufacturerswereforcedtoconsideranytechnologicaldevelopmentsthatcouldhelpimproveproductivity.Itbecameimperativetoproducebetterproductsatlowercostsinordertobecompetitivewithforeignmanufacturers.Otherfactorssuchastheneedtofindbetterwaysofperformingdangerousmanufacturingtaskscontributedtothedevelopmentofindustrialrobots.However,theprincipalrationalehasalwaysbeen,andisstill,improvedproductivity.Oneoftheprincipaladvantagesofrobotsisthattheycanbeusedinsettingsthataredangeroustohumans.Weldingandpartingareexamplesofapplicationswhererobotscanbeusedmoresafelythanhumans,Eventhoughrobotsarecloselyassociatedwithsafetyintheworkplace,theycan,inthemselves,bedangerous.Robotsandrobotcellsmustbecarefullydesignedandconfiguredsothattheydonotendangerhumanworkersandothermachines.Robotworkenvelopesshouldbeaccuratelycalculatedandadangerzonesurroundingtheenvelopeclearlymarkedoff.Redflooringstripsandbarrierscanbeusedtokeephumanworkersoutofarobotsworkenvelope.Evenwithsuchprecautionsitisstillagoodideatohaveanautomaticshutdownsysteminsituationswhererobotsareused.Suchasystemshouldhavethecapacitytosensetheneedforanautomaticshutdownofoperations.Fault-tolerantcomputersandredundantsystemscanbeinstalledtoensurepropershutdownofroboticssystemstoensureasafeenvironment.Therobotelectricallyoperatedservodrivesystemsdsisusesthemomentofforceandthestrengthwhicheachkindofelectricmotorproduces,directlyorindirectlyactuatestherobotmainbodytoobtaintheroboteachkindofmovementimplementingagency.Theelectricmotoractuateswhichtotheindustryrobotjoint,therequesthasthemaximumworkratequalitycomparedtowiththetorqueinertiacomparedto,risesupthedynamictorque,theislowinertiaandbroaderalsothesmoothvelocitymodulationscope.Specially(handfingernail)shouldusethevolume,thequalityasfaraspossiblesmallelectricmotorliketherobotterminalexecution,wheninparticularrequeststhefastresponse,theservomotormusthaveahigherreliabilityandthestability,andhasthebiggermomentaryoverloadability.Thisistheservomotorintheindustryrobottheapplicationprecondition.Therobotactuatestheelectricalmachinerytothejointoverridingdemandthegaugenatriumasfollows:1)rapidity.Theelectricmotorfromobtainsthecommandsignaltocompletetheactivestatustimewhichtheinstructionrequeststobesupposedtobeshort.Responsecommandsignaltimeshorter,theelectricityservosystemsensitivityhigher,thefastresponseperformanceisbetter,generallyisexplainstheservomotorfastresponsebytheservomotormechanicalandelectricaltime-constantsizetheperformance.2)thestartingmomentinertiaisbiggerthan.Inintheactuationloadsituation,requeststherobottheservomotorstartingmomentinabigway,therotationinertiaissmall.3)thecontrolcharacteristiccontinuityandthestraightline,alongwiththecontrolsignalchange,theelectricmotorrotationalspeedcancontinuouslychange,sometimesalsoneedstherotationalspeedandthecontrolsignalhasthedirectratioorapproximatelyhasthedirectratio.4)modulatesvelocitythescopetobewide.Canuseto1:1,00010,000velocitymodulationscopes.5)thevolumesmall,thequalitysmall,theaxialsizeisshort.6)canundergotheharshmovementcondition,maycarryontheextremelyfrequentproandcontoandaddsandsubtractsthefastmovement,andcanwithstandtheoverloadintheshorttime.Industryrobotdirectmotordriveprinciplelikechart1shows.Theindustryrobotelectricallyoperatedservosystemgeneralstructureisthreeclosed-loopscontrol,namelyelectriccurrentlink,speedringandsnapring.Atpresenttheoverseasmanyelectricmotorsproducethefactorytodeveloptheactuationproductwhichsuitablymatcheswiththeexchangeservomotor,theuseractaccordingtooneselfneedthefunctionstresstochoosethedifferentservo-controlwaydifferently,intheordinarycircumstances,exchangestheservodriverbelow,passablehascarriedontheartificialhypothesistoitsinternalfunctionparametertorealizethefunction:1)positioncontrolway；2)speedcontrolway；3)torquecontrolmode；4)position,speedmixedmode；5)position,torquemixedmode；6)speed,torquemixedmode；7)torquelimitation；8)thepositiondeviationoversizedreportstothepolice；9)speedPIDparameterestablishment；10)speedandaccelerationforwardfeedparameterestablishment；11)zerofloatscompensatestheparameterestablishment；12)addsandsubtractsthefasttimeestablishmentandsoon1.directcurrentservomotordriverdirectcurrentservomotordrivertousethepulse-durationmodulation(PWM)theservodriver,changesthroughthechangepulsewidthaddsinthemotorarmaturebeginningsandendsaveragevoltage,thuschangestheelectricmotortherotationalspeed.ThePWMservodriverhasthevelocitymodulationscopewidth,thelow-speedcharacteristicwell,responds,theefficiencyquicklyhigh,theoverloadcapacityisstrongandsoonthecharacteristic,oftentakesthedirectcurrentservomotordriverintheindustryrobot.2.synchronizedtypesexchangeservomotordriversamedirectcurrentservomotoractuatesthesystemtocompare,thesynchronizedtypeexchangeservomotordriverhasthetorquerotationinertiaelectronicsbrushandcommutationsparkmeritandsoontobehigherthan,nottohave,obtainsthewidespreadapplicationintheindustryrobot.Thesynchronizedtypeexchangeservomotordriverusuallyusestheelectricityflowpatternpulse-durationmodulation(PWM)theinversionandhastheelectriccurrentlinkfortheinnerrim,thespeedringfortheouterringmulti-closed-loopcontrolsystem,realizestothethree-phasepermanentmagnetismsynchronizationservomotorelectriccurrentcontrol.Accordingtoitsprincipleofwork,theactuationcurrentwaveformandthecontrolmodedifference,itmaydivideintotwokindofservosystems:1)rectangularwaveelectriccurrentactuationpermanentmagnetismA.C.servomechanism.2)sinusoidalcurrentactuationpermanentmagnetismA.C.servomechanism.Usestherectangularwaveelectriccurrentactuationthepermanentmagnetismexchangeservomotortobecallednotbrushesthedirectcurrentservomotor,useshesinusoidalcurrentactuationthepermanentmagnetismexchangeservomotortobecallednotbrushestheexchangeservomotor.3.directdrivesso-cal