【文章內(nèi)容簡介】 re the Cartesian space occupied by the endeffector, and R, P, and Y are the roll, pitch and yaw of the tool. X, Y, Z 表示由端部執(zhí)行器占據(jù)笛卡爾空間， R, P, Y表示刀具旋轉(zhuǎn)進給和偏移 . Each of the point definitions can be specified as either absolute or relative points(again defined in a similar manner as for NC machines). 每個點的定義既可以是絕對的也可以是相對的（也和數(shù)控機床有相似的規(guī)則） Tooldefinition mands are used to define the location of any tooling that might be required for an operation. 刀具定義命令常用于定義操作要求的所有刀具的位置。 The tool definition specifies the midpoint of the robot’ s faceplate, and consists of the same six data used to describe a point. 刀具定義指定機器人面板的中心，包括定義點的相同六個 變量 The robot is set into motion using a set of motion control mands. The motion mands allows the programmer to: 機器人運動是通過設(shè)置運動控制命令 ， 運動命令允許編程人做 ： Define the type of path to tack (straightline,circular,or jointcoordinated)定義采取的路徑類型 （ 直線 ， 圓弧 ， 結(jié)點插補 ） Define the end of tooling speed 定義刀具的最終速度 Define the frame of reference 定義參考柜架 Describe the current tool tip 定義刀尖的類別 ARBasic also allows the programmer to input and output data to any device to witch the robot is and digital data can be sent to A/D converters,D/A converters,parallel,or serial I/O ports. ARBasic 也允許程序編譯人員輸入或輸出數(shù)據(jù)到與機器人連接的設(shè)備，模擬的數(shù)字信號可以傳送到模 — 數(shù)轉(zhuǎn)換轉(zhuǎn)換器并行的或串行的 I/O 口。 Table 51 contains Point and Tool definition 52 contains ARBasic example for motion 5— 1是點和刀具定義的例子。表 5— 2是說明 ARBasic的運動控制的例子。 Unit 6 Group Technology Group technology is a manufacturing philosophy that involves identifying and grouping ponents having similar or related attributes in order to tack advantage of their similarities in the design and/or manufacturing phases of the production 術(shù)是一個制造業(yè)的哲學(xué)概念，它涉及到具有相似或相關(guān)屬性零件的標(biāo)識和分組，這樣可以利用產(chǎn)品相似性這種特點，吧這種技術(shù)應(yīng)用于產(chǎn)品生產(chǎn)的設(shè) 計制造過程中。Historically,this novel principle first came into being here in the United States in 1920,when Frederick Taylor supported the idea of grouping parts that required special operations.（歷史上，這個新穎的理論是在 1920年被第一次提出的 ， Frederick Taylor 支持將需要特殊加工的零件成組） He was followed by the Jones and Lamson Machine Company in the early 1920s,which used a crude form of group technology to build machine tools.（在 1920年早期， Jones and Lamson 公司繼承他的思想，他們用粗糙的成組技術(shù) 組成 生產(chǎn)工具） Their manufacturing approach involved such principles as departmentalization by product rather than by process and minimizing the routing paths.（他們使用這一原理的生產(chǎn)方法就是以產(chǎn)品來劃分部門，而不是以工藝或縮短路徑來劃分部門） Today, group technology is implemented through the application of wellstructured classification and coding systems and supporting software to take advantage of the similarities of ponents.（現(xiàn)在，成組技術(shù)進一步 被運用 通過運用結(jié)構(gòu)分類、代碼系統(tǒng)和支持軟件來利用相似零件的優(yōu) 點 ） Reasons for Adopting Group Technology Modern manufacturing industries are racing a lot of challenges caused by growing international petition and fastchanging market demands. These challenges, which are exemplified in the following list, have been and can be successfully met by group technology: （現(xiàn)在制造工業(yè)正在接受由日益激烈的國際化競爭和多變的市場要求帶來的挑戰(zhàn)。這些挑戰(zhàn)可以用成組技術(shù)成功地解決，如下所列：） There is an industrial trend toward lowvolume production (small lot sizes) of a wider variety of products in order to meet the rising demand for specially ordered products in today’ s affluent societies. In other words, the share of the batchtype production in industry is growing day after day, and it is anticipated that 75 percent of all manufactured parts will be in small lot sizes. （工業(yè)生產(chǎn)發(fā)展的趨勢是產(chǎn)品的品種更加多樣而每種產(chǎn)品生產(chǎn)的數(shù)量減少，以此來滿足當(dāng)今繁榮社會不斷增長的專門訂貨。換句話說，工廠中分批式生產(chǎn)的比例越來越高，預(yù)計將來全部的 75%是小批量的） As a result of the first factor, the conventional shop anization (., departmentalization by progress) is being very inefficient and obsolete because of the wasteful routing paths of the products between the various machine tool departments. （作為第一個因素的結(jié)果，傳統(tǒng)的車間機構(gòu)變得越來越低效和過時，因為產(chǎn)品在 不同的工具部傳送的時候浪費時間） There is a need to integrate the design and manufacturing phases in order to cut short the lead time, thus winning a petitive situation in the international market. （有必要把設(shè)計和制造的階段集成在一起可以減少訂貨至交貨的時間，這樣可以在國際化市場上具有競爭力） Benefits of Group Technology （ 1） Benefits in product design.（在產(chǎn)品設(shè)計的優(yōu)勢） Concerning design of products, the principal benefit of group technology is that it enables product designers to avoid reinventing the wheel, or duplicating engineering efforts. （關(guān)于產(chǎn)品的設(shè)計，成組技術(shù)最主要的好處在于可以防止重復(fù)發(fā)明 和復(fù)制工程成果） In other words, it eliminates the possibility of designing a product that was previously designed because it facilitates storage and easy retrieval of engineering designs.（換句話說，由于它存儲方便，并且相關(guān)的工程設(shè)計很容易被取出，所以消除了發(fā)明以前就存在的產(chǎn)品） When an order of a part is released, the part is first coded, and then existing designs that match that code are retrieved from the pany39。s library of designs stored in the memory of a puter, thus saving a large amount of time in design work. （一旦要求設(shè)計某一個零件，這個零件首先被編碼，然后檢索存儲于計算機存儲器中的 該公司的設(shè)計庫，找出與這個編碼相匹配的已有設(shè)計，這樣便可節(jié)省大量的重復(fù)設(shè)計時間） If the exact part design is not included in the pany39。s puterized files, a design close enough to the required one can be retrieved and modified in order to satisfy the requirements,（如果在公司計算機存儲器中沒有完全吻合的設(shè)計，那就找出與之 最相似的設(shè)計，修正后可以滿足要求） A further advantage of group technology is that it promotes standardization of production tools and workholding devices.（此外，成組技術(shù)可以促進生產(chǎn)工具和工件夾持裝置的標(biāo)準化） (2)Standardization of tooling and setup. （加工和裝配的標(biāo)準化） Since parts are grouped into families, a flexible design for a workholding device(jig or fixture)can be made for each family in such a manner that it can acmodate every member of that family, thus reducing the cost of fixturing by reducing the number of fixtures required.（因為工件被分成了類別，對工件 夾持裝置的靈活設(shè)計可以應(yīng)用于每個類的所有零件，這樣可以減少所需要的夾持件的數(shù)量，從而減少了夾持裝置的費用） Also, it is obvious that a machine setup can bemade once for the whole family(because of the similarities between