【正文】 s his name) founder of has written a couple of interesting essays about robotics in the future, well worth reading. He feels that it is quite plausible that over the next 40 years robots will displace most human jobs. According to Brain39。s reduced puting costs, and the focused development of vision systems for specific jobs such as inspection. Robots already in use everywhereSales of industrial robots have risen to record levels and they have huge, untapped potential for domestic chores like mowing the lawn and vacuuming the carpet. Last year 3,000 underwater robots, 2,300 demolition robots and 1,600 surgical robots were in operation. A big increase is predicted for domestic robots for vacuum cleaning and lawn mowing, increasing from 12,500 in 2000 to almost 500,000 by the end of 2004. IBot Roomba floor cleaning robot is now available at under $. In the wake of recent anthrax scares, robots are increasingly used in postal sorting applications. Indeed, there is huge potential to mechanize the US postal service. Some 1,000 robots were installed last year to sort parcels and the US postal service has estimated that it has the potential to use up to 80,000 robots for sorting. Look around at the robots around us today: automated gas pumps, bank ATMs, selfservice checkout lanes，machines that are already replacing many service jobs. Fastforward another few decades. It doesn39。t see，versatile and rapid object recognition is still not quite attainable. And there are very few examples of bipedal, upright walking robots such as Honda P3, mostly used for research or sample demonstrations. A relatively small number of industrial robots are integrated with machine vision systems，which is why it39。 the potential is significant because soon robots will offer not only improved costeffectiveness, but also advantages and operations that have never been possible before. Envisioning Vision Despite the wishes of robot researchers to emulate human appearance and intelligence, that simply hasn39。s law continue to shift puting power and price, we should expect more innovations, more costeffective robot configurations, more applications beyond the traditional service emphasis. The biggest change in industrial robots is that they will evolve into a broader variety of structures and mechanisms. In many cases, configurations that evolve into new automation systems won39。t be matched with conventional hard tooling. Boosting Competitiveness As mentioned, robotic applications originated in the automotive industry. General Motors, with some 4050,000 robots, continues to utilize and develop new approaches. The ability to bring more intelligence to robots is now providing significant new strategic options. Automobile prices have actually declined over the last two to three years, so the only way that manufacturers can continue to generate profits is to cut structural and production costs. When plants are converted to new automobile models, hundreds of millions of dollars are typically put into the facility. The focus of robotic manufacturing technology is to minimize the capital investment by increasing flexibility. New robot applications are being found for operations that are already automated with dedicated equipment. Robot flexibility allows those same automated operations to be performed more consistently, with inexpensive equipment and with significant cost advantages. Robotic AssistanceA key robotics growth arena is Intelligent Assist Devices (IAD).operators manipulate a robot as though it were a bionic extension of their own limbs with increased reach and strength. This is robotics technology not replacements for humans or robots, but rather a new class of ergonomic assist products that helps human partners in a wide variety of ways, including power assist, motion guidance, line tracking and process automation. IAD use robotics technology to help production people to handle parts and payloads, more, heavier, better, faster, with less strain. Using a humanmachine interface, the operator and IAD work in tandem to optimize lifting, guiding and positioning movements. Sensors, puter power and control algorithms translate the operator39。t have to be bolted to the floor, or constrained by the limitations of yesterday39。 they are used as space explorers, remotely operated surgeons and even pets ，like Sony39。由于經(jīng)驗(yàn)和時間上的不足，論文可能還有許多不盡如人意的地方，希望能夠得到老師和同學(xué)們的批評和指導(dǎo)意見。在實(shí)際的設(shè)計過程中,我們得到了學(xué)校、系、老師和同學(xué)的大力幫助和支持,在學(xué)校和系里的領(lǐng)導(dǎo)給我們提供了極其便利的工作環(huán)境的條件下，我的設(shè)計才得以順利完成。在大學(xué)的課堂的學(xué)習(xí)只是在給我們灌輸專業(yè)知識，而我們應(yīng)把所學(xué)的用到我們現(xiàn)實(shí)的生活中去，此次的設(shè)計給我奠定了一個實(shí)踐基礎(chǔ)，我會在以后的學(xué)習(xí)、生活中磨練自己，使自己適應(yīng)于以后的競爭。通過這次的設(shè)計使我認(rèn)識到我對可編程控制器方面的知識知道的太少了，對于書本上的很多知識還不能靈活運(yùn)用，有很多我們需要掌握的知識在等著我去學(xué)習(xí)，我會在以后的學(xué)習(xí)生活中彌補(bǔ)我所缺少的知識。謝 辭畢業(yè)設(shè)計馬上就要結(jié)束,在此我首先要感謝我的指導(dǎo)老師邵麥頓老師,他幫助我們選擇了課題，安排了合理的進(jìn)度，在實(shí)際的工作中給我們提供了很多啟發(fā)性的意見和建議。但設(shè)計的思想是能用軟件實(shí)現(xiàn)的功能盡量用軟件實(shí)現(xiàn)，因?yàn)楸阌谛薷暮蛿U(kuò)展。3. 在畫硬件電路時，要合理布局，注意標(biāo)號連接合縱線連接的應(yīng)用，是電路圖看起來簡明美觀。回顧整個設(shè)計過程，感到受頗多，從以下幾方面來概括我的收獲：1. 在硬件編程中，由于用到的硬件比較多且復(fù)雜，則采用模塊化思想連接硬件圖，會使思路比較清晰。結(jié)　論本設(shè)計是基于個人衛(wèi)生護(hù)理機(jī)器人洗浴過程控制單元設(shè)計控制，以三菱FX2N PLC應(yīng)用系統(tǒng)為總控制中心，輔助設(shè)計有溫度控制及報警模板，觸摸屏控制模板，電磁閥和電機(jī)驅(qū)動模塊，水路循環(huán)控制模塊等組成。可知PLC控制系統(tǒng)的可靠性不僅取決于PLC硬件本身的質(zhì)量好壞，而且與周邊設(shè)備的質(zhì)量、硬件的安裝方式、軟件的編制等有很大關(guān)系。因此在使用PLC工作時一定要兼顧考慮到這些問題，選擇適合的環(huán)境來運(yùn)行PLC。不能與其他線敷設(shè)在同一線槽內(nèi)。傳送模擬信號最好采用屏蔽線，而且屏蔽線的屏蔽層一段接地。2）交流線與直流線、輸入線與輸出線分開走線。共模干擾在信號線與地之間傳輸，屬于非對成性干擾 。PLC控制系統(tǒng)有幾十乃至幾百個輸入、輸出通道分布在其中，導(dǎo)線之間形成的互相耦合，主要為電容性耦合、電感性耦合和電磁場輻射三種形式。對于PLC系統(tǒng)的供電的電源，一般都采用隔離性能較好的隔離變壓器；對于拜年送氣和和共用信號儀表供電應(yīng)選擇分布電容小、抑制帶大的配電器，以減少干擾。電源對PLC控制系統(tǒng)的干擾情況很多，主要通過供電線路德阻抗耦合長生的，其中大功率用電設(shè)備是主要干擾源，它的啟動、運(yùn)行都將產(chǎn)生空間電磁干擾，并在線路上功能產(chǎn)生感應(yīng)電路和電壓。它能有效抑制干擾源，阻斷干擾輸出通道。抗干擾的原則是抑制干擾源、破壞干擾通道和提高受控體的抗干擾能力。圖43 洗浴動作控制圖第5章 抗干擾和系統(tǒng)的可靠性設(shè)計隨著工業(yè)的發(fā)展，PLC管飯的應(yīng)用于復(fù)雜惡劣環(huán)境中，如果PLC控制系統(tǒng)的設(shè)計過程能夠進(jìn)行可靠性設(shè)計，那么工業(yè)現(xiàn)場中的使用可靠性會大大提高。其動作控制圖如圖42所示。較之洗浴模式簡單。當(dāng)PLC接受到洗發(fā)控制信號時，進(jìn)行洗發(fā)功能，洗發(fā)動作控制圖如圖41所示。溫度加熱模塊是用軟件控制浸沒式加熱器的狀態(tài)，溫度采集模塊是用DS18B20來采集溫度，顯示模塊由LCD1602來顯示采集的溫度。本設(shè)計重點(diǎn)在硬件部分，由于軟件程序比較多，將放在附錄中作為參考。只有各個模塊本身以及它們之間的關(guān)系處理好了，才能使系統(tǒng)實(shí)現(xiàn)其功能。結(jié)構(gòu)設(shè)計確定程序由哪些模塊組成，以及這些模塊之間的關(guān)系；過程設(shè)計確定每個模塊的設(shè)計程序結(jié)構(gòu)，將各個模塊組織成良好的層次系統(tǒng)；5. 審查與調(diào)試：對總體設(shè)計的程序進(jìn)行嚴(yán)格的審查，在審查之后對程序進(jìn)行調(diào)試。程序設(shè)計的具體步驟如下：1. 提出各種可供選擇的方案；2. 對各個方案進(jìn)行論證，選取合