工业机器人机械手外文翻译.doc

工业机器人机械手外文翻译.doc

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外文翻译

IntroductiontoRobotics

MechanicsandControl

机器人学入门

力学与控制

系　　　　　　别：

机械与汽车工程系

专业名称：

机械设计制造及其自动化

学生姓名：

郭仕杰

学　　　　　　号：

06101315

指导教师姓名、职称：

贺秋伟副教授

完成日期2014年2月28日

IntroductiontoRobotics

MechanicsandControl

Abstract

Thisbookintroducesthescienceandengineeringofmechanicalmanipulation.Thisbranchoftherobothasbeeninseveralclassicalfieldbased.Themainrelatedfieldssuchasmechanics,controltheory,computerscience.Inthisbook,Chapter1through8topicsrangingfrommechanicalengineeringandmathematics,Chapter9through11covercontroltheoryofmaterial,andtwelfthand13maybeclassifiedascomputersciencematerials.Inaddition,thisbookemphasizesthecomputationalaspectsoftheproblem;forexample,eachchapteritmainlymechanicalhasabriefsectioncalculation.Thisbookisusedtoteachtheclassnotesintroductiontorobotics,StanfordUniversityinthefallof1983to1985.Thefirstandsecondversionshavebeenthrough2002inusefrom1986institutions.Usingthethirdversioncanalsobenefitfromtherevisedandimprovedduetofeedbackfrommanysources.Thankstoallthosewhomodifiedtheauthor'sfriends.Thisbookissuitableforadvancedundergraduatesthefirstgradecurriculum.Ifstudentshavecontributedtothedynamicsandlinearalgebracourseinadvancedlanguageprograminabasiccourseofstatics.Inaddition,itishelpful,butnotabsolutelynecessary,letthestudentsfinishthecoursecontroltheory.Thepurposeofthisbookisasimpleintroductiontothematerial,intuitiveway.Specifically,doesnotneedtheaudiencemechanicalengineerstrict,althoughmuchofthematerialisfromthefield.AttheStanfordUniversity,manyelectricalengineers,computerscientists,mathematiciansfindthisbookveryreadable.Hereweonlyontheimportantparttoextract.

Themaincontent

1、Background

Thehistoricalcharacteristicsofindustrialautomationispopularduringtheperiodofrapidchange.Eitherasacauseoraneffectofautomationtechnology,periodofthischangeiscloselylinkedtotheworldeconomy.Useofindustrialrobots,canbeidentifiedinauniquedevice1960's,withthedevelopmentofcomputeraideddesign（CAD）systemandcomputeraidedmanufacturing（CAM）system,thelatesttrends,automatedmanufacturingprocess.Thetechnologyistheleadingindustrialautomationthroughanothertransition,itsscopeisstillunknown.InthenorthernAmerica,machineryandequipmentusedinearly80'softhe20thcentury,thelate80'softhe20thcenturyashortpull.Sincethen,themarketmoreandmore（Figure1.1）,althoughitisaffectedbyeconomicfluctuations,allthemarket.Figure1.2showstherobotswereinstalledinalargenumberofannualworldindustrialzone.Notably,thenumberofJapan'sreportisdifferentfromotherareas:

theycountthenumberofmachineofrobotinotherpartsoftheworldarenotconsideredrobot（instead,theywouldsimplybeconsidered"factorymachines"）.Therefore,thereportedfiguresfortheJapaneseexaggerated.

Oneofthemainreasonforthegrowthintheuseofindustrialrobotsisthattheyarefallingcosts.Fig.1.3showsthat,inthelastcentury90'stenyears,robotpricesdroppedalthoughhumanlaborcosts.Atthesametime,therobotisnotonlycheaper,theybecomemoreeffectiveandfaster,moreaccurate,moreflexible.Ifwefactorthesequalityadjustedtothenumber,theuseofrobotstodecreasethecostofeventhantheirpricetagfaster.Morecost-effectiveintherobottheybecome,ashumanlabortobecomemoreexpensive,moreandmoreindustrialworkbecomerobotautomationcandidate.Thisisthemostimportanttrendtopromotetheindustrialrobotmarketgrowth.Thesecondtrendis,inadditiontotheeconomic,asrobotsbecomemorecanbecomemoretaskstheycando,mayhaveonhumanworkersengagedindangerousorimpossible.Industrialrobotsperformgraduallygetmorecomplex,butitisstill,in2000,about78%installationweldingormaterialhandlingrobotinUSArobot.

Amorechallengingfield,industrialrobots,accountedfor10%unit.Thisbookfocusesonthedynamicsandcontrolofthemostimportantformsofindustrialrobot,manipulator.Whatistheindustrialrobotissometimesdebate.Equipment,asshowninFigure1.4isalwaysincluded,andCNCmillingmachine（NC）isusuallynot.Thedifferenceliesintheprogrammablecomplexplaceifamechanicaldevicecanbeprogrammedtoperformavarietyofapplications,itmaybeanindustrialrobot.Thisisthepartofalimitedclassoftasksareconsideredfixedautomation.Forthepurposeofthisdifference,donotneedtobediscussed;thebasicpropertiesofmostmaterialssuitableforvariousprogrammablemachine.

Ingeneral,themechanicalandcontrolresearchofthemechanicalhandisnotanewscience,butacollectionofthethemefromthe"classic"field.Mechanicalengineeringhelpstomachinelearningmethodsforstaticanddynamicconditions.Themathematicaldescriptionofmovementofthetoolmanipulatorspacesupplyandotherattributes.Providedesignevaluationtooltorealizethemotionandforcethedesiredalgorithmcontroltheory.Electricalengineeringtechnologyappliedinthedesignofelectricalengineeringtechnologyforsensorappliedindesignandindustrialrobotinterfacesensor,areprogrammedtoperformtherequiredtaskofbasiccomputerscienceandtheequipment.

Figures：

FIGURE1.1:

ShipmentsofindustrialrobotsinNorthAmericainmillionsofUS

dollars

FIGURE1.2:

Yearlyinstallationsofmultipurposeindustrialrobotsfor1995-2000and

forecastsfor2001-2004

FIGURE1.3:

Robotpricescomparedwithhumanlaborcostsinthe1990s

FIGURE1.4:

TheAdept6manipulatorhassixrotationaljointsandispopularinmany

applications.CourtesyofAdeptTechnology,Inc.

2、Controlofmechanicalarm

Inthestudyofrobots,3Dspatialpositionweconstantlytotheobjectofinterest.Theseobjectsareallmanipulatorlinks,partsandtools,itdeals,andotherobjectsintherobot'senvironment.Inacoarseandimportantlevel,theseobjectsaredescribedbytwoattributes:

thepositionanddirection.Ofcourse,adirectinterestinthetopicistheattitudeinwhichwerepresentthesequantitiesandmanipulatetheirmathematics.

Inordertodescribethehumanbodypositioninspaceanddirection,wewillalwayshighlycoordinatesystem,orframe,rigidobject.Thenwecontinuetodescribethepositionandorientationofthereferenceframeofthecoordinatesystem.Anyframeworkcanbeusedasareferencesystemintheexpressionofabodypositionanddirection,soweoftenthinkofconversionortransformationofthebodyofthesepropertiesfromoneframetoanotherdescription.The2chapterdiscussestheConventionmethodsofdealingwithjobdescriptionsdiscussedmethodoftreatingandpostconventiondescribedpositioningandmanipulationofcoordinatesystemthequantityandmathematicsdifferent.Welldevelopedskillsrelevanttothepositionandrotationofthedescriptionandisveryusefulinthefieldofrigidrobot.

Kinematicsisthescienceofsports,themovementdoesnotconsidertheforcewhichresultedinit.Inthescientificresearchofkinematics,aposition,velocity,acceleration,andthelocationvariablehighorderderivative（withrespecttotimeofalloranyoftheothervariables（S））.Therefore,thekinematicsofmanipulatorisreferstothegeometricandtemporalcharacteristicsofallmovement.Themanipulatorcomprisesnearlyrigidconnection,whichistherelativemovementofthejointconnectionofadjacentlinks.Thesenodesareusuallyinstrumentpositionsensor,sothatadjacentlinkisarelativepositionmeasurement.Inthecaseofrotatingorrotaryjoint,thedisplacementiscalledthejointangle.Somerobotsincludingsliding（orprism）connection,inwhichtheconnectionbetweentherelativedisplacementisatranslation,sometimescalledthejointoffset.Themanipulatorhasanumberofindependentpositionvariablesarespecifiedasthemechanismtoallpartsofthe.Thisisaverygeneralterm,anymechanism.Forexample,afourconnectingrodmechanismhasonlyonedegreeoffreedom（evenwiththreemembersofthemovement）.Inthecaseofthetypicalindustrialrobots,becausetherobotsisusuallyanopenkinematicchain,becauseeachjointpositionusuallydefineavariable,thenodeisequaltothenumberofdegreesoffreedom.

Thefreeendofthelinkchainconsistingofthemanipulatorendeffector.Accordingtotheapplicationofrobot,theendeffectorcanbeastartingpoint,thetorch,electromagnet,orotherdevice.Weusuallybymechanicalhandpositiondescriptionframeworkdescriptiontool,whichisconnectedtotheendeffector,relativetothebase,thebaseofthemobilemanipulator.Inthestudyofmechanicaloperationofaverybasicproblemisthekinematics.Thisistocomputethepositionofmechanicalstaticgeometricproblemsinhandterminalpositioning.Specifically,givenasetofjointangles,theforwardkinematicsproblemistocomputethepositionandorientationrelativetothebaseofthetoolholder.Sometimes,wethinkthisisachangefromthejointspaceisdescribedasamanipulatorpositionthatCartesianspacedescription."Thisproblemwillbediscussedinthe3chapter.Inthe4chapter,wewillconsidertheinversekinematicsproblem.Theproblemsareasfollows:

theendeffectorpositionanddirectionofthemanipulator,computingallpossiblejointangle,canbeusedtoachievethepositionanddirectionofagiven.（seeFigure1.7.）Thisisapracticalproblemofmanipulatorisfundamental.Thisisquiteacomplexgeometryproblem,theconventionalsolutionintensofthousandsofhumansandoth