工业机器人机械手外文翻译文档格式.doc
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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
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