【正文】 or when used to measure the size of objects and torque sensors in the robot gripper and wrist was the last joint, or between the parts on the robot to carry a measured reaction force and and torque sensors are mounted on the flexible piezoelectric sensors and strain gauges on the sensors include proximity sensors, vision sensors, sound detectors, sensitive ponents and sensors and labeling of objects near the example, eddy current sensor can be used to accurately maintain a fixed distance between the most simple robot proximity sensors including a lightemitting diode and a photodiode receiver transmitter, receiver reflector closer to the reflection of light, the main disadvantage of this sensor is closer to the object reflectance of light will affect the received other was close to the sensor using a capacitance and inductance as。s physical size increases, the size of the unit of work must also hand movements by the driver, or drive system or shaft drive system allows the movement in the work unit, drive system using electric, hydraulic or pneumatic the energy emitted from a variety of mechanical drive into mechanical drives are joined together by a mechanical linkage in turn drive the various robot linkage from the sprocket body, posed of gears and ball Robot controller is running in the the memory controller stores used for the preprogrammed information, control peripherals, to municate it with the factory puter to make the production of constantly used to control the manipulator motion and the outer parts of the work can use the box to teach handdelivery actions programmed into the robot information can be stored in the controller39。Robots and robot sensor Introduction Industrial robot and its operation is the subject of this robots are used in manufacturing environment as a tool to increase can be used to undertake routine, tedious assembly line work, or the implementation of those workers may be hazardous example, in the first generation of industrial robots, there were a nuclear power plant is for the replacement of fuel engaged in this work may be exposed to harmful amounts of radiation in the robots can operate in the assembly lineto install smallscale ponents, such as electronic ponents mounted on circuit this end, workers from the tedious task of this routine operation robot can be programmed to remove the bomb detonators for the disabled in our munity services and play a role in many arm can be seen as the end of the implementation of tools, sensors, and / or jaws to move to a predetermined position of a the robot reaches the position, it will perform a task may be welded, sealed, mechanical loading, mechanical unloading, or many assembly addition to programming, and openand close the system, the general, not require the participation of people will be able to plete such Glossary Robot is a reprogrammable multifunctional manipulator that can be programmable motion moving parts, materials, tools or special devices to perform a different the following paragraphs of this definition may lead to other definitions were described, which provides a plete system for the robot is preprogrammed robot must follow in order to plete the work and the way point in these locations, the robot will stop and perform some operations, such as assembling parts, painting or preprogrammed robot position is stored in the memory device to continue operation for later addition, when job requirements change, the only other programming data and these can be modified preprogrammed , precisely because of the characteristics of this program, an industrial robot and one can store data, and can recall and edit the puter is very is a robot arm, which allows the robot pitch, stretching and action is provided by the robot axis, mechanical axis, also known as robot hand of robot can have 316 my later, the term degrees of freedom and a total number of robot axes and not within the robot gripper itself, which is mounted on the robot arm end the end of the robot arm connected to these attachments, the robot can lift parts, spot welding, painting, welding, drilling, deburring, the request can also point to various types of system can also control the operation of the robot39。相反, 閉式探測(cè)的機(jī)器人在操作運(yùn)動(dòng)中, 始終受傳感器的控制, 多數(shù)視覺傳感器 都采用閉環(huán)模式, 它們隨時(shí)監(jiān)測(cè)機(jī)器人的實(shí)際位置與理想位置間的偏差, 并驅(qū)動(dòng) 機(jī)器人修正這一偏差。傳感器有靜態(tài)探測(cè)與閉環(huán)探測(cè)兩種使用方法。聲敏元件用來感應(yīng)并解釋聲波, 從基本的聲波探測(cè)到人們連續(xù)講話的逐字 識(shí)別, 各種聲敏元件的復(fù)雜程序不等, 除了人機(jī)語音交流外, 機(jī)器人還可以使用 聲敏元件控制弧焊, 聽到碰撞或倒塌的聲音時(shí)阻止機(jī)器人的運(yùn)動(dòng), 預(yù)測(cè)將要發(fā)生 的機(jī)械破損及檢測(cè)物體內(nèi)部缺陷。攝像信號(hào) 經(jīng)過硬件預(yù)處理, 以 30幀至 60幀每秒的速度輸入計(jì)算機(jī)。其他得接近傳感器使用的是與電容和 電感相關(guān)的原理。例如, 可以用渦流傳感器精確地保持與鋼 板之間的固定的距離。非接觸傳感器包括接近傳感器、視覺傳感器、聲敏元件及范圍探測(cè)器等。力和扭矩傳感器位于 機(jī)器人得抓手與手腕的最后一個(gè)關(guān)節(jié)之間, 或者放在機(jī)械手得承載部件上, 測(cè)量 反力與力矩。觸覺或接觸傳感器可以測(cè)出受 動(dòng)器端與其他物體間的實(shí)際接觸, 微型開關(guān)就是一個(gè)簡(jiǎn)單的觸覺傳感器, 當(dāng)機(jī)器 人得受動(dòng)氣端與其他物體接觸時(shí), 傳感器是機(jī)器人停止工作, 避免物體間的碰撞, 告訴機(jī)器人已到達(dá)目標(biāo)。機(jī)器人技術(shù)最經(jīng)常使用的傳感器分為接觸式的與非接觸式的。機(jī)器人傳感器盡管機(jī)器人有巨大的能力,但很多時(shí)候卻比不過沒有經(jīng)過一點(diǎn)訓(xùn)練的工 人。端部執(zhí)行件事機(jī)器人系統(tǒng)中唯一可將一種工作變成另一種工作的部件, 例 如, 即日起可與噴水割機(jī)相連, 它在汽車生產(chǎn)線上被用于切割板邊。通常所設(shè)計(jì)得端部執(zhí)行件可滿足機(jī)器人用戶的需要。每種機(jī)器人系統(tǒng)不僅需要?jiǎng)恿黹_動(dòng)機(jī)械手的軸, 還需要?jiǎng)恿眚?qū)動(dòng)控制 器,這種動(dòng)力可由制造環(huán)境的動(dòng)力源提供。這些脈沖為電機(jī)提供必要的指令信息以使機(jī)械手在機(jī)器人底 座上旋轉(zhuǎn)。電動(dòng)機(jī)可以是交流式的, 也可以是直流式的。壓力空氣被輸送到機(jī)械手, 使軸沿軌道作直線運(yùn)動(dòng), 也可將這種氣動(dòng)源連 接到鉆床, 它可為鉆頭的旋轉(zhuǎn)提供動(dòng)力。每個(gè)機(jī)器人系統(tǒng)均需要?jiǎng)恿眚?qū)動(dòng)機(jī)械手,這種動(dòng)力既可由液壓動(dòng)力源、氣壓動(dòng)力源, 也可以由電力動(dòng)力源提供, 這些動(dòng)力源是機(jī)器人工作單元總的部件 及設(shè)備中的一部分。一類動(dòng)力是供控制器運(yùn)行的交流點(diǎn)動(dòng)力, 另一類被用于驅(qū)動(dòng)機(jī)械手各軸。每種記憶存儲(chǔ)裝置均可存儲(chǔ)編程信息以便以后回憶使用。所以, 控 制器必須包含某種形式的記憶存儲(chǔ)器, 以微信息處理器為基礎(chǔ)的系統(tǒng)常與固態(tài)記 憶裝置連同運(yùn)行?？刂破鬟€有與工廠中不同計(jì)算機(jī)開展交流的任務(wù), 這個(gè)通訊網(wǎng)絡(luò)可使機(jī)器 人成為計(jì)算機(jī)輔助制造(CAM 系統(tǒng)的一部分。這種功能使控制器 的運(yùn)行具有非常好的柔性。換言之, 它們由微信息處理器操縱。這 類控制器用于非常簡(jiǎn)單的機(jī)器人系統(tǒng)。接著, 該機(jī)械手再撿起一根新的零件并將它安放到機(jī)床上, 然后, 控制器向該機(jī) 床發(fā)出信號(hào)讓它開始運(yùn)轉(zhuǎn)。例如, 控制器具有一根 輸入線, 該輸入線可識(shí)別某項(xiàng)機(jī)械加工什么時(shí)候完成。它可以存儲(chǔ)幾種不同的程序,并且它們中任一程序均可被編輯。這種信息可被存儲(chǔ)在控制 器的記憶裝置中以便以后回憶使用?？刂破饔糜诳刂茩C(jī)器人機(jī)械手運(yùn)動(dòng)以及工作單元中的外圍部件?？刂破鳈C(jī)器人系統(tǒng)的控制器是運(yùn)行的心臟。這些聯(lián)動(dòng)機(jī)構(gòu)依次驅(qū)動(dòng)機(jī)器人的不同軸。驅(qū)動(dòng)系統(tǒng)發(fā) 出的能量由各種機(jī)械驅(qū)動(dòng)裝置轉(zhuǎn)換成機(jī)械動(dòng)力。機(jī)械手的運(yùn)動(dòng)由驅(qū)動(dòng)器, 或驅(qū)動(dòng)系統(tǒng)所控制。如前所述, 該區(qū)域被稱為 機(jī)器人的工作單元, 它的尺度與機(jī)械手的尺寸相對(duì)應(yīng)。該手腕由附加軸及手腕法蘭組成, 有了該 手腕法蘭,機(jī)器人用戶就可以根據(jù)不同的工作在手腕上安裝不同的工具。這個(gè)機(jī)架能確保該機(jī)械手被維持在某個(gè)位置 上。機(jī)器人機(jī)械手的附屬物可為機(jī)械手提供各種運(yùn)動(dòng)軸。它既可以是一個(gè)直線型的可動(dòng)臂,也可以是一個(gè)鉸接臂。正如前面所述,附屬物從機(jī)器人的底座伸出。在 該情況下, 底座被安裝到導(dǎo)軌上, 這樣該機(jī)械手就可以從一處移動(dòng)到另一處。機(jī)械手的底座通常被固定在工作領(lǐng)域的地面。機(jī)械手機(jī)械手承擔(dān)機(jī)器人系統(tǒng)的體力工作,它由兩部分組成:機(jī)械部分及被連接 的附屬物?；静考C(jī)器人系統(tǒng)具有 3個(gè)基本部件:機(jī)械手、控制器及動(dòng)力源。機(jī)器人開展工作所需要的所有設(shè)備 均被包括在