【正文】 h pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctor39。s total sales of million Taiwan, which is the 1999 statistics, however, million in Taiwan have been using the equipment is 75 million, this volume is not , the Japanese industrial robots in this one, is the first of the robots to bee the Kingdom, the United States have developed installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 52 meter of such highspeed it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of ponents, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of more than six degrees of freedom robot, in different occasions the need to second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to nonmanufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, belong to the nonmanufacturing industries and service industries, so here is pared with the industrial robot, it is a very important is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, ’s surrounding environment for the conduct of identification, to determine its campaign to plete some work, this is service robot’s one of the basic example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned is also the home of some robot medical robots, nearly five years of relatively rapid development of new application people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robotaided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remotecontrolled approach, the right of such gastrointestinal surgery, we see on the television manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human reality, this right as a human liberation is a very good robots, medical robots it is very plex, while it is fully automated to plete all the work, there are difficulties, and generally are people to is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass robot has in the area, caused a great sensation, but also, AESOP39。機器人有三個發(fā)展階段，那么也就是說，我們習慣于把機器人分成三類，一種是第一代機器人，那么也叫示教再現(xiàn)型機器人，它是通過一個計算機，來控制一個多自由度的一個機械，通過示教存儲程序和信息，工作時把信息讀取出來，然后發(fā)出指令，這樣的話機器人可以重復的根據人當時示教的結果，再現(xiàn)出這種動作，比方說汽車的點焊機器人，它只要把這個點焊的過程示教完以后，它總是重復這樣一種工作，它對于外界的環(huán)境沒有感知，這個力操作力的大小，這個工件存在不存在，焊的好與壞，它并不知道，那么實際上這種從第一代機器人，也就存在它這種缺陷，因此，在20世紀70年代后期，人們開始研究第二代機器人，叫帶感覺的機器人，這種帶感覺的機器人是類似人在某種功能的感覺，比如說力覺、觸覺、滑覺、視覺、聽覺和人進行相類比，有了各種各樣的感覺，比方說在機器人抓一個物體的時候，它實際上力的大小能感覺出來，它能夠通過視覺，能夠去感受和識別它的形狀、大小、顏色。第二類是服務機器人，隨著工業(yè)化的發(fā)展，尤其近十年以來，機器人的發(fā)展的應用領域在不斷拓寬，目前一個很重要的特征，大家都知道，機器人已經從制造業(yè)逐漸轉向了非制造業(yè)和服務行業(yè)，剛才談的汽車制造屬于是制造業(yè)，但服務行業(yè)包括清潔、加油、救護、搶險、救災這些等等，都屬于非制造行業(yè)和服務行業(yè)，那么這里邊跟工業(yè)機器人相比，它有一個很重要的不同，它主要是一個移動平臺，它能夠移動、去運動，上面有一些手臂進行操作，同時還裝有一些像力覺傳感器和視覺傳感器、超聲測距傳感器等等。機器人會不會產生飯碗的問題。除了編程以及系統(tǒng)的開停之外，一般來說這些工作可以在無人干預下完成。一個機器人能有3~16軸，自由度一詞總是與機器人軸數相關。機械手基座通常固定在工作區(qū)域的地基上，有時基座也可以移動，在這種情況下基座安裝在導軌回軌道上，允許機械手從一個位置移到另外一個位置。執(zhí)行元件或驅動系統(tǒng)沈陽航空工業(yè)學院學士學位論文允許各軸力經機構轉變?yōu)闄C械能，驅動系統(tǒng)與機械傳動鏈相匹配。例如控制器有一個輸入端，它能標識某個機加工操作何時完成?？刂破饕灿信c廠內各計算機進行通信的任務，這種通信聯(lián)系使機器人成為計算機輔助制造（CAM）系統(tǒng)的一個組成部分。為了合理地確定采取哪種方法。介質即油液：可進行無壓縮傳遞和控制，同時可以潤滑部件，使閥體密封和系統(tǒng)冷卻。企業(yè)為了提高生產率將越來越依靠自動化，這包括遠程和直接控制生產操作、加工過程和材料處理等。例如 一種用于車輛上的新型動力轉向控制裝置一淘汰其他類型的轉向動力裝置，該轉向部件中包含有人力操縱方向控制閥和分配器。壓縮機一般有活塞式、葉片式和螺旋式等類型。液體比氣體具有更大的粘性，這會因為內摩擦而引起更大的壓力和功率損失；另外，由于液壓系統(tǒng)使用的液體要與大氣隔絕，故它們需要特殊的油箱和無泄露系統(tǒng)設計。當機器人到達位置后，他將執(zhí)行某種任務。因而，正是這種可編程的特征，一個工業(yè)機器人很像一臺計算機，數據可在這里儲存、后續(xù)調用與編輯。機器人系統(tǒng)有三個基本部件：機械手、控制器和動力源。隨著機器人機械結構尺寸的增加?？刂破饔糜诳刂茩C器手運動和在工作單元內控制機器人外設。用于大多數人系統(tǒng)中的控制器代表現(xiàn)代電子學的水平，是更復雜的裝置，即它們是由微處理器操縱的。 動力源是給機器人和機器手提供動力的單元。更重要的是這些機器人可以每天24小時不停止地工作。采用直角坐標和關節(jié)坐標相結合的框架式機械結構形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。機械手以這種方式控制速度降低而沒有不必要的震動。廣泛采用工業(yè)機器人，不僅可以提高產品的質量與產量，而且對保障人身安全，改善勞動環(huán)境，減輕勞動強度，提高勞動生產率，節(jié)約原材料消耗