毕业论文外文翻译工业机器人及其系统组成.docx

毕业论文外文翻译工业机器人及其系统组成.docx

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毕业论文外文翻译工业机器人及其系统组成

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英文原文

IndustrialRobotanditssystem’scomponents

Thereareavarietyofdefinitionsofthetermrobot.Dependingonthedefinitionused,thenumberofrobotinstallationsworldwidevarieswidely.Numeroussinglepurposemuchinesareusedinmanufacturingplantsthatmightappeartoberobots.Thesemachinesarehardwiredtoperformasinglefunctionandcannotbereprogrammedtoperformadifferentfunction.Suchsingle-purposemachinesdonotfitthedefinitionforindustrialrobotsthatisbecomingwidelyaccepted.ThisdefinitionwasdevelopedbytherobotInstituteofAmerica:

Arobotisareprogrammablemuhifunctionalmanipulatordesignedtomovematerial,parts,tools,orspecializeddevicesthroughvariableprogranmledmotionsfortheperfommnceofavarietyoftasks.

Notethatthisdefinitioncxmtalnsthewordsreprograrnmableandmultifunctional.Itisthesetwocharacteristicsthatseparatethetrueindustrialrobotfromthevarioussingle-purposemachinesusedinmodernmanufacturingfirms.Theterm"reprogrammable"impliestwothings:

Therobotoperatesaec~）rdingtoawrittenprogram,andthisprogramcanberewrittentoacconlmodatcavarietyofmanufacturingtasks.

Theterm"multifunctional"meansthattherobotcan,throughreprogrammingandtheuseofdifferentcnd-effectors,performanumberofdifferentmanufacturingtasks.Definitionswrittenaroundthesetwocriticalcharacteristicsarebecomingtheaccepteddefinitionsamongmanufacturingprofessionals.

Thefimtarticulatedarmcameaboutin1951andwasusedbytheU.S.AtomicEnergyCommission.In1954,thefirstprogrammablerobotwasdesignedbyGeorgeDevol.Itwasbasedontwoimportanttechnologies:

（1）Numericalcontrol（NC）technology.

（2）Remotemanipulationtechnology.

Numericalcontroltechnologyprovidedafomaofmachinecontrolideallysuitedtorobots.Itallowedforthecontrolofmotionbystoredprograms.Theseprogramscontaindatapointstowhichtherobotsequentiallymoves,timingsignalstoinitiateactionandtostopmovement,andlogicstatementstoallowfordecisionrfmking.

RemotemanipulationtechnologyallowedamachinetobemorethanjustanotherNCmachine.Itallowedsuchmachinestobecomerobotsthatcanperfomlavarietyofmanufactuingtasksinbothinaccessibleanunsafeenvironmonts.Bymeringthesetwotechnologies,Devoldevelopedthefirstindustrialrobot,anunsophistieatedprogrammablematerialshandlingmachine.

Thefirstconunerciallyproducedrobotwasdevelopedin1959.In1962,the

firstindustrialrobottobeusedoilaproductionllnewasinstalledbyGeneral

MotorsCorporation.ThisrobotwasproducedbyUnimation.Amajorstepforward

inrobotcontroloccurredin1973withthedevelopmentoftheT-3industrialrobot

byCincinnatiMilaeron.TheT-3robotwasthefirstcommerciallyproducedindustrialrobotcontrolledbyaminicomputer.

Numericalcontrolandremotemanipulationtechnologypromptedthewidescale

developmentanduseofindustrialrobots.Butmajortechnologicaldevelopments

donottakeplacesimplybecauseofsuchnewcapabilities.Somethingmustprovide

theimpetusfortakingadvantageofthesecapabilities.Inthecaseofindustrial

robots,theimpetuswaseconomies.

Therapidinflationofwagesexperiencedinthe1970stremendouslyincreasedthepersonnelcostsofmanufacturingfirms.Atthesametime,foreigncompetitionbecameaseriousproblemforU.S.manufacturers.Foreignmanufacturerswhohadundertakenautomationonawidescalebasis,suchasthoseinJapan,begantogainanincreasinglylargeshareoftheU.S.andworldmarketformanufacturedgoods,particularlyautomobiles.

Throughavarietyofautomationtechniques,includicgrobots,Japanesemanufacturers,beginninginthe1970s,wereabletoproducebetterautomobilesmorecheaplythannonautomatedU.S.manufacturers.Consequently,inordertosurvive,U.S.manufacturerswereforcedtoconsideranytechnologicaldevelopments

thatcouldhelpimproveproductivity.

Itbecameimperativetoproducebetterproduetsatlowercostsinorderto

becompetitivewithforeignmanufacturers.Otherfactorssuchastheneedtofind

betterwaysofperformingdangerousmarmfacturingtaskscontributedtothe

developmentofindustrialrobots.However,theprincipalrationalehasalwaysbeen,andisstill,improvedproductivity.

Oneoftheprincipaladvantagesofrobotsisthattheycanbeusedinsettings

thataredangeroustohumans.Weldingandpartingareexamplesofapplications

whererotmtscanbedangeroustohumans.Eventhoughrobotsarecloselyasmciated

withsafetyintheworkplace,theycan,inthemselves,bedangerous.

Robotsandrobotcellsmustbecarefullydesignedandconfiguredsothattheydonotendangerhumanworkersandothermachines.Robotworkenvelopsshouldbeaccuratelycalculatedandadangerzonesurroundtingtheenvelopclearlymarkedoff.Redflooringstripsandbarrierscanbeuserdtokeephumanworkersoutofarobot’sworkenvelope.

Erenwithsuchprecautionsitisstillagoodideatohaveanautomaticshutdownsysteminsituationswhererobotsareused.Suchasystemshouldshouldhavethecapacitytosensetheneedforanautomaticshutdownofoperations.Fault-tolerantcomputersandredunantsystemscanbeinstalledtoensurepropershutdownofroboticssystemstoensureasafeenvironment.

Industrialrobotsisthescienceofdesigning,building,andapplyingindustrialrobcts.Whatarerobots?

Inthelate1970stheRoboticIndustriesAssociationdefinedarobotas”amanipulator,designedtomovematerial,parts,toolsorspecializeddevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyoftasks".Althoughthisdefinitiondoesnotdirectly

includepickandplacearmsasrobots,teleoperamrsandremotelycontrolleddevicesareoftenreferredtoalsoasrobots.TheInternationalStandardsOrganization（ISO）hasamorelengthydefinitionofanindustrialrobot:

Amachineformedbyamechanismincludingseveraldegreesoffreedom,oftenhavingtileappearanoaofoneorseveralarmsendinginawristcapableofholdingatooloraworkpieceoraninspectiondevice.Inparticular,itscontrolunitmustuseamemorizingdeviceand.sometimesitcanusesensingoradaptationappliancestakingintoaccountenvironmentandcircumstances.Thesemultipurtposemachinesaregenerallydesignedtocarryoutarepetitivefunctionandcanbeadaptedtootherfunctions.

TheRIAandISOdefinitionsbothstressthemuLtifunctionalandprogrammablecapabilitiesand,therefore,excludespecial-purpose"hardautomation"toolsandequipmenttypicallyfoundinhighvolumeproduction.Alsoexcludedaremanualremotemanipulators,whichareextensionsofhumanhandsforusein,forexample,sterile,hot,orradioactiveenvironments.

InJapan,theJapaneseIndustrialRobotAssociation（JIRA）classifiesindustrialrobotsbythemethodofinputinformatkmandthemethodofteaching:

1.ManualManipulators.Manipulatorsdirectlyactivatedbytheoperator.

2.Fixed-sequenceRobot.Robotthatonceprogrammedforagivensequenceofoperationsisnoteasilychanged.

3.Variable-sequenceRobot.Robotthatcanbeprogrammedforagivensequenceofoperationsandcaneasilybechangedorreprogrammed.

4.PlaybackRobot.Robotthat"memorizes"worksequencestaughtbyahumanbeingwhophysicallyleadsthedevicethroughtheintendedworkpattern;therobotcanthencreatethissequencerepetitivelyfrommemory.

5.NumericallyControlled（NC）Robot.Robotthatoperatasfromandiscontrolledbydigitaldata,asintheformofpunchedtape,cards,ordigitalswitches;operateslikeaNCmachine.

6.IntelligentRobot.Robotthatusessensoryperceptiontoevaluateitsenvironmentandcmakedecisionsandproceedstooperateaccordingly.

Thefirst-generationofrobotsystemswasdefinedforthevariousrobotswithlimitedcomputerpower.Theirmainintelligantfunctionsincludeprogrammingbyshowingasequenceofmanipulationstepsbyahumanoperatorusingateachbox.Withoutanysensors,theserobotsrequireaprearrangedandrelativelyfixedfactoryenvironmentand,therefore,havelimiteduse.

Thesecond-generationofrobotsystemswasenhancedbytheadditionofacomputerprocessor.Amajorstepinindustrialroboticsdevelopmentwastheintegrationofacomputerwiththeindustrialrobotmechanism.Thishasprovidedreal-timecalculationoftrajectorytosmooththemotionsoftheendeffectorandintegrationofminesimpleforceandproximitysensorstoobtainexternalsignals.

Themainapplicationsofsecondgenerationrobotsincludespotandarcwelding,spraypainting,andsomeassembly.

Third-generationrobotsystemsincorporatemultipleeomputerprocessorsandmultiplearmsthatcanoperateasynchronouslytoperform.severalfunctions.Distributedhierarchicalmmputerorganizationispreferred,becauseitcancoordinatemotionsandinterfacewithexternalsensors,othermachines,andotherrobotsandcancommunicatewithothercomputers.Theserobotscanalreadyexhibitintelligentbehavior,includingknowledge-basedcontrolandlearningabilities.

Japanranksastheworld'stoprobot-producingandrobot-usingcountry,withmorethan40%oftheworld'sindustrialrobotinstallations.Thereasonsforthispenetrationaresociological-andtechnologicalfactorsthatareuniquetoJapan:

industrialrobotsbroughtproductivityandqualitygainsinJapaneseindustry,coupledwithimprovementsoftheworkenviromnent.Thesehaveperpetuatedthesocial-demandformorerobotsaswellasincreasedtheexpectationfromthistechnology.

Currentandemergingrobotapplicationsinindustrycanbecategorizedonthecomplexityandrequirementsofthejob.Theyrangefromsimple,lowtechnolngypick-andplaceoperationsthroughmediumt