【正文】 ufacturing Systems Programmable Automation ? High investment in general purpose equipment ? Lower production rates than fixed automation ? Flexibility to deal with variations and changes in product configuration ? Most suitable for batch production Flexible Automation ? High investment for a customengineered system ? Continuous production of variable mixtures of products ? Medium Production Rates ? Flexibility to deal with product design variations Types of Automated Manufacturing Systems Automation Application Hierarchical Structure of Automation Definition of an Industrial Robot A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. Robot Institute of America (Group within Society of Manufacturing Engineers) Industrial Robot Examples World Supply of Robots World Supply of Robots ? Material handling ? Manipulation ? Measurement Typical Applications Advantages of Robots ? Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products ? Robots can work in hazardous environments ? Robots need no environmental fort ? Robots work continuously without any humanity needs and illnesses ? Robots have repeatable precision at all times ? Robots can be much more accurate than humans, they may have mili or micro inch accuracy. ? Robots and their sensors can have capabilities beyond that of humans ? Robots can process multiple stimuli or tasks simultaneously, humans can only one. ? Robots replace human workers who can create economic problems Current Industrial Robots ? are not creative or innovative, ? no capability to think independently, ? cannot make plicated decisions, ? do not learn from mistakes ? cannot adapt quickly to changes in their surroundings We must depend on real people for these abilities! Components of Industrial Robot ? Mechanical structure or manipulator （機構 骨骼，關節(jié)） ? Actuator （驅動器 肌肉） ? Sensors （傳感器 眼睛，皮膚 …… ） ? Control system（控制系統(tǒng) 大腦） Manipulator Structures ? Mechanical ponents ? Mechanical configurations Mechanical Components ? Robots are serial “chain” mechanisms made up of ? “l(fā)inks”（連桿） (generally considered to be rigid) ? “joints” （關節(jié)） (where relative motion takes place) ? Joints connect two links “Degrees of Freedom”（自由度） ? Degrees of freedom (DoF) is the number of independent movements the robot is capable of ? Ideally, each joint has exactly one degree of freedom ? degrees of freedom = number of joints ? Industrial robots typically have 6 DoF, but 3, 4, 5, and 7 are also mon Types of Joints ? Although there are a few other types, most current industrial robots use one of two types of joints: ? Prismatic or Translational (also called Linear)（平動關節(jié)） ? Revolu