【正文】 Unit5 INDUSTRIAL ROBOT 工業(yè)機(jī)器人 INTRODUCTION 介紹 Industrial robots are relatively new electromechanical devices that are beginning to change the appearance of modern industry. 工業(yè)機(jī)器人是相對(duì)來(lái)說(shuō)較新的機(jī)電設(shè)備，它已經(jīng)開(kāi)始改變現(xiàn)代工業(yè)的面貌。 Industrial robots are not like the science fiction devices that possess humanlike abilities and provide panionship to space traveler. 工業(yè)機(jī)器人不像科幻小說(shuō)中的那個(gè)模樣具有人一樣的能力并且能與其它移動(dòng)物建立友誼。 Research to enable robots to “ see”， hear， “ touch，and listen has been underway for two decades and is beginning to bear fruit. 機(jī)器人能夠看見(jiàn)聽(tīng)到觸覺(jué)聽(tīng)的研究已經(jīng)進(jìn)行了 20多年，現(xiàn)在開(kāi)始開(kāi)花結(jié)果了。 However， the current technology of industrial robots is such that most robots contain Only an arm rather than all the anatomy a human possesses. 然而，通常所說(shuō)的工業(yè)機(jī)器人技術(shù)是是大多數(shù)機(jī)器人只包含了一條臂而不是擁有人解剖學(xué)上的全部結(jié)構(gòu)。 Current control only allows these devices to move from point to point in space， performing relatively simple taskes. 通常的控制只允許這些機(jī)器人在空間上從點(diǎn)到點(diǎn)的移動(dòng)，完成相對(duì)簡(jiǎn)單的工作。 The Robotics Institute of America defines a robot as “a reprogrammable multifunction manipulator designed to move material， parts, tools， or other specialized devices through variable programmed motions for the performance of a variety of tasks. ” 美國(guó)機(jī)器人學(xué)會(huì)定義機(jī)器人為“一個(gè)可再編程序，多功能的機(jī)器手，它通過(guò)各種可編程的運(yùn)行來(lái)完成不同的任務(wù)，用于搬用原 料、零件、刀具、以及專(zhuān)用裝置。 A NC machining center would qualify as a robot if one were to interpret different types of machining as different 加工有不同的作用。那么一個(gè)數(shù)控加工中心也可以被認(rèn)為是機(jī)器人。 Most manufacturing engineers do not consider a NC machining center a robot， even though these machines hive a number of similarities. 大部分制造工程師認(rèn)為數(shù)控加工中心不是機(jī)器人，盡管他們有很多相似之處。 The power drive and controllers of both NC machines and robots can be quite similar. 數(shù)控機(jī)構(gòu)和機(jī)器人的動(dòng)力驅(qū)動(dòng)和控制十分相似。 Robots, like NC machines can he powered by electrical motors， hydraulic systems， or pneumatic systems. 想數(shù)控機(jī)構(gòu)一樣機(jī)器人能夠由發(fā)動(dòng)機(jī)、液壓系統(tǒng)、氣壓系統(tǒng)提供動(dòng)力。 Control for either device can lye either openloop or closedloop. 兩種設(shè)備都能由開(kāi)環(huán)控制或閉環(huán)控制。 In fact， many of the developments used in robotics have evolved from the NC industry， and many of the manufacturers of robots also manufacture NC machines or NC controllers. 實(shí)際上，許多應(yīng)用于機(jī)器人發(fā)展技術(shù)由數(shù)控工業(yè)演變過(guò)來(lái)并且許多機(jī)器人制造商也制造數(shù)控機(jī)床和數(shù)控控制器。 A physical robot is normally posed of a main frame (or arm) with a wrist and some tool ing (usually some type of gripper) at the end of the frame. 實(shí)際的機(jī)器人由帶有腕（或稱(chēng)為臂）的主機(jī)身和機(jī)器端部的工具（通常是某些的支撐器）組成。 An auxiliary power system may also be included with the robot. 機(jī)器人也可能有一個(gè)輔助動(dòng)力系統(tǒng)。 A controller with some type of teach pendant，joystick. or key pad is also part of the system. I1 typical robotic system is shown in Fig. 5. 1. 機(jī)器人系統(tǒng)還包括一個(gè)有一些控制環(huán)模、操作桿、鍵的控制器。一種典型的機(jī)器人系統(tǒng)如圖 1 Robots are usually characterized by the design of the mechanical system. 機(jī)器人特點(diǎn)通常由機(jī)械系統(tǒng)的設(shè)計(jì)表現(xiàn) ， A robot whose main frame consists of three linear axes is called a Cartesian robot. 一個(gè)主要框架包括三條移動(dòng)軸的機(jī)器人稱(chēng)為笛卡爾機(jī)器人。 The Cartesian robot derives its name from the coordinate system. Travel normally takes place linearly in threespace. 笛卡爾機(jī)器人它的名字來(lái)源于笛卡爾坐標(biāo)系沿三維空間的直線移動(dòng)。 Some Cartesian robots are constructed like a gantry to minimize deflection along each of the axes. 一些笛卡爾機(jī)器人由龍門(mén)結(jié)構(gòu)構(gòu)成以便使沿每個(gè)軸的偏差最小。 These robots are referred to as gantry robots. 這些機(jī)器人稱(chēng)為龍門(mén)機(jī)器人。 Fig. 5. 2 shows examples of Cartesian robots. 圖 展示了笛卡爾機(jī)器人 ， These robots behave and car, be controlled similarly to conventional threeaxis IBC machines. 這些機(jī)器人的動(dòng)作控制都相似于傳統(tǒng)的三坐標(biāo)機(jī)床。 Gantry robots are generally the most accurate physical structure for robots. 龍門(mén)結(jié)構(gòu)一般來(lái)說(shuō)是最正確的機(jī)器人實(shí)際結(jié)構(gòu)。Gantry robots are monly used for assembly where tight tolerance and exact location are 機(jī)器人通常用于公差較小和 位置度要求較高的裝配中。 A cylindrical robot is posed of two linear axes and one rotary axis. This robot derives its name from the work envelope (the, space in which it operates)、 which is This robot derives its created by moving the axes from limit to limit 甲 圓柱機(jī)器人由 兩個(gè)移動(dòng)軸和一個(gè)旋轉(zhuǎn)軸組成 ， 這種機(jī)器人的名稱(chēng)來(lái)源自包圍軌跡 （ 它的功作范圍 ）， 它由軸移動(dòng)的極限位置構(gòu)成。 F39。 3 shows typical cylindrical robot. Cylindrical robots are used for a variety of applications ， but most frequently for materialhandling 展示了典型的圓柱機(jī)器人。圓柱機(jī)器人有許多應(yīng)用，最常見(jiàn)的是材料的搬運(yùn)操作。 PROGRAMMING A ROBOT給機(jī)器人編程 In order for a device to qualify as a robot， it must be easily reprogrammable. 為了是設(shè)備具有資格作為機(jī)器人 ， 它必須是容易可再編程的。 Nonprogrammable mechanisms，regardless of their potential flexibility by reassembly or rewiring， do not qualify as robots. 不可編程的機(jī)構(gòu)，無(wú)論其通過(guò)重新 裝配或再接線可實(shí)現(xiàn)的潛在柔性有多大，也不能算坐機(jī)器人。 ’A class of devices that fits this category are fixed or variablesequence robots. 許多這類(lèi)設(shè)備是固定的或可變的序列機(jī)器人。 Many of these robots are pneumatically driven。 很多這樣的機(jī)器人是由氣壓驅(qū)動(dòng)的。 Rather than controlling the robot path. the device is driven to fixed stops or switches via some form of ladder logic. 這種機(jī)器人借助某種梯形邏輯圖被驅(qū)動(dòng)至一些固定的擋塊活行程開(kāi)關(guān)處 ，而不是控制它的軌跡。 Although the ladder programming qualifies for the definition of a robot， the switches or stops must normally he physically moved in order to alter the tasks being performed. 雖然梯形圖編程可滿足機(jī)器人的運(yùn)動(dòng)要求 ， 但行程開(kāi)關(guān)和擋塊必須正常的被整體移動(dòng) ， 以改變所需執(zhí)行的工作任務(wù)。 Drive actuators or motors are turned on or off depending on the desired sequence of tasks and switch states. 動(dòng)力開(kāi)動(dòng)或發(fā)動(dòng)機(jī)打開(kāi)到 “ 開(kāi) ” 或 “ 關(guān) ” 依據(jù)工序的要求和轉(zhuǎn)換狀態(tài)。 Robot operations for This type of system are normally limited to rather simple application 機(jī)器人對(duì)這類(lèi)系統(tǒng)操作通常局限于相當(dāng)簡(jiǎn)單應(yīng)用。 Programming of more conventional robots normally takes one of three forms:(I)wAk through or pendent teaching， (2)leadthrough leaching, or(3)Jfline programming. 傳統(tǒng)機(jī)器人的程序通常采用以下三個(gè)形式之一 ：（ 1） 操作器編程 （ 2） 導(dǎo)入式程序 （ 3）脫機(jī)程序。 Each robot normally es with onf or more of these types of programming systems. Each has advantages and disadvantages depending on the application being considered 每個(gè)機(jī)器人通常具有一個(gè)或更多這種程序類(lèi)型的系統(tǒng)。每種形式的優(yōu)缺點(diǎn)依不同的應(yīng)用而不同 Walkthrough or pendant teaching or programming is the most monly used robot programming procedure. 操作器編程最常用的機(jī)器人編程方式 In this type of programming， a pendant that nor