机器人学基础-第9章-机器人应用-蔡自兴.ppt

机器人学基础-第9章-机器人应用-蔡自兴.ppt

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中南大学蔡自兴，谢斌zxcai,2010,机器人学基础第九章机器人应用,1,Ch.9RobotApplications,FundamentalsofRobotics,2,Chapter9RobotApplications,9.1FactorsConsideredinApplyingIndustrialRobots应用工业机器人考虑因素9.1.1EvaluatingTasksforRobots机器人的任务估计Itisdifficulttochoosetasksforrobotseffectivelywithoutathoroughunderstandingoftheapplicationsofrobot.Whenevaluatingtasks,weshoulddistinguishtheundergoingtasksandthoseshouldbecarriedoutbytherobot.Usingrobotscanprovideachancetoimprovetheproductivitysignificantlybychangingprocessvariables.,Ch.9RobotApplications,3,9.1.2ThreeKeyforApplyingRobots应用机器人三要素,TechnicalBases

（1）performancerequirement

（2）configurationrequirement（3）productfeature（4）equipmentreplacement（5）processchange,9.1FactorsConsideredinApplyingIndustrialRobots,4,EconomicReasonsthefactorsconsideredineconomicincluding:

（1）labor

（2）material（3）productivity（4）energy（5）equipment（6）cost,9.1.2ThreeKeyforApplyingRobots,9.1FactorsConsideredinApplyingIndustrialRobots,5,HumanFactors

（1）operator

（2）administratoranddepartment（3）maintainerandothersDateRecordingprovidearoughestimationofobservedapplicationprojects.,9.1.2ThreeKeyforApplyingRobots,9.1FactorsConsideredinApplyingIndustrialRobots,6,9.1.3ThumbRulesforApplyingRobots使用机器人的经验准则,Estes（VernonE.Estes）in1979,madeeightrulesfortheuseofrobots,knownasVernonrules,whichareasfollows:

（1）Startingtherobotplansfrompoorconditions

（2）Consideringtheapplicationofrobotsinthedepartmentwithlowproductivity.（3）Evaluatinglongtermneeds.（4）Makingworkingcostnottobeproportionaltothecostofrobots.（5）Strivingtosimplicityandeffectiveness.（6）Ensuringthesafetyofhumanandequipment（7）Dontexpectingsellerstoprovidefullturnkeyservices.（8）Dontforgettingthatrobotneedshuman.,9.1FactorsConsideredinApplyingIndustrialRobots,7,9.1.4StepsforApplyingRobots采用机器人的步骤,StepsforApplyingRobotsinproductionsystems:

（1）Consideringallaspectsandmakingsuretheautomationrequirements,suchasimprovingproductivity,increaseoutputs,reducinglaborintensity,improvingworkingconditionsandsoon.

（2）Establishingrobotplans,includingdetermineautoma-tionobjectives,trainingtechnician,preparingtheapproximatescheduleandsoon.（3）Discusstherequirementsofapplyingrobots.（4）Normalizingtheassistantoperationandtheperformanceoftherobots,9.1FactorsConsideredinApplyingIndustrialRobots,8,9.1.4StepsforApplyingRobots,StepsforApplyingRobotsinproductionsystems:

（5）Designingtheprojectofrobotizationoperationsystem.（6）Choosesuitableevaluationcriterionforrobotsystem.（7）Detaileddesignandspecificimplementation.,9.1FactorsConsideredinApplyingIndustrialRobots,9,9.1.4StepsforApplyingRobots,Generalstepsforrobotstobeusedinproductionsystems,Fig.9.1StepsforApplyingRobots,9.1FactorsConsideredinApplyingIndustrialRobots,10,9.2ApplicationAreasofRobots机器人的应用领域,9.2.1RobotsforIndustryComparedwiththetraditionalmachinerobot,ithastwomainadvantages：

EntirelyautomatizationinproductionprocessItbringshighqualityproductionandwellqualitycontrol,andimprovetheabilitytoadapttheconstantlychanginguserneeds，soitwillimprovetheproductcompetitivenessinthemarket.StrongadaptabilityofproductionequipmentThedevicealsohastheabilitytoadapttofailures,9.2ApplicationAreasofRobots,11,9.2.1RobotsforIndustry,RobotsforIndustrymainlyusedin:

（1）AutomotiveIndustry

（2）MachinebuildingandelectronicsIndustries（includingTelecommunicationsIndustry）（3）GeneralMechanicalIndustry（4）Architecture（5）Metalworking（6）FoundryIndustry（7）Others,9.2ApplicationAreasofRobots,12,RobotsforIndustryclassifiedas：

（1）MaterialsProcessing

（2）Partsmanufacturing（including:

forging,welding,brokenup,andcasting）（3）Producttesting（including:

explicittest,implicittest）（4）Productassembly（including:

materialsprocessing,on-linetesting,sparepartssupply,matchingagentssuchaspressureandtighteningprocesses）,9.2.1RobotsforIndustry,9.2ApplicationAreasofRobots,13,9.2.2RobotsforExploration探索机器人,RobotsforExploration

（1）AutonomousRobotAutonomousrobotcanperformprogrammingtasksinharshenvironments.

（2）RemoteControlRobotTheoperatorcontroltherobotinaharshenvironmenttocompletesometaskfromrelativelongdistanceaway.,9.2ApplicationAreasofRobots,9.2.2RobotsforExploration,TwomaintypesofrobotsforexplorationUnderwaterRobotAccordingtomovementmodes:

（1）FloatingUnderwaterRobot

（2）WalkingUnderwaterRobot（3）MobileUnderwaterRobotAccordingtopowersupplymodes:

（1）CableUnderwaterRobot

（2）WirelessUnderwaterRobot,9.2ApplicationAreasofRobots,14,15,9.2.2RobotsforExploration,SpaceRobotThemaintaskofspacerobots:

（1）Toexploreasapioneerinnon-humanlivingconditionssuchasthemoon,Marsandothersplanets.

（2）InsteadofAstronautstocompletesatelliteservice,thespacestationserviceandtheexperimentunderspaceenvironment.,9.2ApplicationAreasofRobots,16,9.2.3RobotsforService服务机器人,Definition1Robotforserviceisasemi-autonomousorfull-autonomousrobot，whichservicesforhumanhealth.Definition2Robotforservicecanbeseenasakindoffreeprogrammingmobiledevice,anditcanpartiallyorfullyautomaticcompleteservices.,9.2ApplicationAreasofRobots,17,9.2.3RobotsforService,Medicalrobotsappliedtothefollowingaspects:

（1）DiagnosisRobot

（2）NursingRobot（3）DisabilityandParalysisRehabilitationRobot（4）HouseholdRobot（5）EntertainmentRobot（6）Medicalandsurgicalrobot,9.2ApplicationAreasofRobots,18,9.2.3RobotsforService,Otherrobotsforservice:

DeliverLettersRobotsTourGuideRobotsAddOilRobotsConstructionRobotsAgricultureandForestryRobots,9.2ApplicationAreasofRobots,19,9.2.4RobotsforMilitary军事机器人,9.2ApplicationAreasofRobots,Groundmilitaryrobotsintelligentrobot,includingindependentandsemi-autonomousvehiclesremote-controlledrobot,namely,VariousremoteunmannedvehiclesAerialmilitaryrobotsMarinemilitaryrobots,20,9.3ApplicationExamplesofIndustrialRobots工业机器人应用举例,9.3.1RobotsforMaterialHandling（材料搬运）CONSIGHTsystemdevelopedbyGeneralMotors（GM）isavisualcontrolsystemusedfortransportingandassemblingoftheparts.,9.3ApplicationExamplesofIndustrialRobots,Fig9.3HardwarediagramofCONSIGHTsystem,21,9.3.1RobotsforMaterialHandling,FunctionsofCONSIGHTsystem:

Determiningpositionsanddirectionsofvariousmechanicalparts（includingcomplexcurveobjects）.Itiseasytocompileprogramsonthesystembyinsertingthenewparts.Structurelightsubsystem,preventneedofhighscenecontrast.Processingimagedataeffectively,whichcontainsvideonoise,inmanytypicalenvironmentoffactory.,9.3ApplicationExamplesofIndustrialRobots,22,9.3.1RobotsforMaterialHandling,Fig9.4OperatingprocedureofCONSIGHTmonitoringsystem,9.3ApplicationExamplesofIndustrialRobots,23,9.3.2WeldingRobots焊接机器人,Weldingrobothasthelargestapplicationsinindustrialrobot.,Fig9.5SimplifiedhardwarediagramofHRGH-controlsystem,9.3ApplicationExamplesofIndustrialRobots,24,9.3.2WeldingRobots,Thesystemiscomposedoftwo-levelcontrolsystem:

Firstlevelbasedonmicrocomputersystem.ThefirstlevelchoosesmicrocomputerIBM-PC/XT,withthefunctions:

management,faultdiagnosisandmachinelanguageediting,compilerandetc.Secondlevelbasedonsingleboardcomputersystem.ChoosingTP-86singleboardcomputerasthesecondcontrolcircuit,realizeservopositioncontrolfor5joints.,9.3ApplicationExamplesofIndustrialRobots,25,Figure9.6SoftwareflowchartofHRGH-II,9.3.2WeldingRobots,9.3ApplicationExamplesofIndustrialRobots,26,9.3.3PaintingRobots喷漆机器人,PJ-Ipaintingrobot,Fig9.8StructurediagramofPJ-Icontrolsystem,9.3ApplicationExamplesofIndustrialRobots,27,9.3.3PaintingRobots,Controlsoftwareconsistsoftwomodules:

TeachingmoduleReplaymodule.Structureofthesetwomodulearesimilar.Teachingprogramconsistsofthreetasks:

TaskAcompletesinitializationandcreatenewtask.TaskBconsistsofreadingthecollecteddatainmemorybufferandwritingthemintothedisk.TaskCcontainsmonitoringoperationonpanelbuttons.,9.3ApplicationExamplesofIndustrialRobots,28,9.3.3PaintingRobots,Fig9.9TeachingflowchartInitialization,（b）TaskA,（c）TaskB,（d）TaskC,9.3ApplicationExamplesofIndustrialRobots,29,9.3.3PaintingRobots,NCspray-paintsystem,Fig9.10CompositionofNCAutomaticspraysystem,9.3ApplicationExamplesofIndustrialRobots,30,9.4Summary小结,Generalconsiderationsfortheapplicationofrobots.Task,Technology,EconomyandPersonnel.Vernonprinciple,criteriaandexperiencewhenapplicationofrobots.Industrialrobotsapplications.MaterialHandlingWeldingRobotsPaintingRobotsRobotswillbeappliedinmorewidelyfields.ExplorationRobotsMilitaryRobotsServiceRobots,9.4Summary,谢谢大家！

ThankYou!

31,FundamentalsofRobotics,