機(jī)器人畢業(yè)設(shè)計(jì)外文翻譯2

1、<p><b>　　畢業(yè)論文（設(shè)計(jì)）</b></p><p><b>　　外文翻譯</b></p><p>　　題 目： 機(jī)器人 </p><p>　　系部名稱： 專業(yè)班級(jí)： </p><p>　　學(xué)生姓名

2、： 學(xué) 號(hào)： </p><p>　　指導(dǎo)教師： 教師職稱： </p><p>　　2011年03月11日</p><p><b>　　機(jī)器人</b></p><p>　　機(jī)器人是典型的機(jī)電一體化裝置，它綜合運(yùn)用了機(jī)械

3、與精密機(jī)械、微電子與計(jì)算機(jī)、自動(dòng)控制與驅(qū)動(dòng)、傳感器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟(jì)的發(fā)展和各行各業(yè)對(duì)自動(dòng)化程度要求的提高，機(jī)器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機(jī)器人產(chǎn)品。機(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問題，又促進(jìn)了工業(yè)自動(dòng)化的進(jìn)程。目前，由于機(jī)器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項(xiàng)技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實(shí)用化、高可靠

4、性機(jī)器人系統(tǒng)具有廣泛的社會(huì)現(xiàn)實(shí)意義和經(jīng)濟(jì)價(jià)值。 </p><p>　　工業(yè)機(jī)器人是在生產(chǎn)環(huán)境中用以提高生產(chǎn)效率的工具，它能做常規(guī)乏味的裝配線工作，或能做那些對(duì)于工人來說是危險(xiǎn)的工作，例如：第一代工業(yè)機(jī)器人是用來在核電站中更換核燃料棒，如果人去做這項(xiàng)工作，將會(huì)遭受有害射線的輻射。工業(yè)機(jī)器人亦能工作在裝配線上將小元件裝配到一起，如將電子元件安放在電路印刷板，這樣，工人就能從這項(xiàng)乏味的常規(guī)工作中解放出來。機(jī)器人也能按程

5、序要求用來拆除炸彈，輔助殘疾人，在社會(huì)的很多應(yīng)用場(chǎng)合下履行職能。</p><p>　　機(jī)器人可以認(rèn)為是將手臂末端的工具、傳感器和手爪移動(dòng)到程序指定位置的一種機(jī)器。當(dāng)機(jī)器人到達(dá)位置后，它將執(zhí)行某種任務(wù)。這些任務(wù)可以是焊接、密封、機(jī)器裝料、拆裝以及裝配工作。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(yù)下完成。</p><p>　　一、如下敘述的是機(jī)器人系統(tǒng)基本術(shù)語：</p&

6、gt;<p>　　1.機(jī)器人是一個(gè)可編程、多功能的機(jī)械手，通過給要完成的不同任務(wù)編制各種動(dòng)作，它可以運(yùn)動(dòng)零件、材料、工具以及特殊裝置。這個(gè)基本定義引導(dǎo)出后續(xù)段落的其他定義，從而描繪出一個(gè)完整的機(jī)器人系統(tǒng)。</p><p>　　2.預(yù)編程位置點(diǎn)是機(jī)器人為完成工作而必須跟蹤的軌跡。在某些位置點(diǎn)上機(jī)器人將停下來做某些操作，如裝配零件、噴涂油漆或者焊接。這些預(yù)編程點(diǎn)貯存在機(jī)器人的貯存器中，并為后續(xù)的連續(xù)操作

7、所調(diào)用，而且這些預(yù)編程點(diǎn)像其他程序數(shù)據(jù)一樣，可在日后隨工作需要而變化。因且，正是這種可編程的特征，一個(gè)工業(yè)機(jī)器人很像一臺(tái)計(jì)算機(jī)，數(shù)據(jù)可以在這里儲(chǔ)存、后續(xù)調(diào)用與編輯。</p><p>　　3.機(jī)械手是機(jī)器人的手臂，它使機(jī)器人能彎屈、延伸和旋轉(zhuǎn)，提供這些運(yùn)動(dòng)的是機(jī)械手的軸，亦是所謂的機(jī)械手的自由度。一個(gè)機(jī)械人能有3-16軸，自由度一詞總是與機(jī)器人軸數(shù)相關(guān)。</p><p>　　4.工具和手爪不

8、是機(jī)器人自身組成部分，但它們是安裝在機(jī)器人手臂末端的附件。這些連在機(jī)器人手臂末端的附件可使機(jī)器人抬起工件、點(diǎn)焊、刷漆、電焊弧、鉆孔、打毛刺以及根據(jù)機(jī)器人的要求去做各種各樣的工作。</p><p>　　5.機(jī)器人系統(tǒng)還可以控制機(jī)器人的工作單元，工作單元是機(jī)器人執(zhí)行任務(wù)所處的整體環(huán)境，該單元包括控制器、機(jī)械手、工作平臺(tái)、安全保護(hù)裝置或者傳輸裝置。所有這些為保證機(jī)器人完成自己任務(wù)而必需的裝置都包括在這一工作單元中。另外

9、，來自外設(shè)的信號(hào)與機(jī)器人何時(shí)裝配工作、取工件或放工件到傳輸裝置上。</p><p>　　二、機(jī)器人系統(tǒng)有三個(gè)基本部件：機(jī)械手、控制器和動(dòng)力源。</p><p><b>　　1．機(jī)械手</b></p><p>　　機(jī)械手做機(jī)器人系統(tǒng)中粗重工作，它包括兩個(gè)部分：機(jī)構(gòu)和附件,機(jī)械手也有聯(lián)接附件基座，如下圖所示一機(jī)器人基座與附件之間的連接情況。<

10、/p><p>　　機(jī)械手基座通常固定在工作區(qū)域的地基上，有時(shí)基座也可以移動(dòng)，在這種情況下基座安裝在導(dǎo)軌或者軌道上，允許機(jī)械手從一個(gè)位置移動(dòng)到另外一個(gè)位置。</p><p>　　正如前面所提到的那樣，附件從機(jī)器人基座上延伸出來，附件就是</p><p>　　機(jī)器人的手臂，它可以是直線型，也可以是軸節(jié)型手臂，軸節(jié)型手臂也是大家所知的關(guān)節(jié)型手臂。</p><

11、;p>　　機(jī)械臂使機(jī)械手產(chǎn)生各軸的運(yùn)動(dòng)。這些軸連在一個(gè)安裝基座上，然后再練到托架上，托架確保機(jī)械手停留在某一位置。</p><p>　　在手臂的末端上，連接著手腕，手腕由輔助軸和手腕凸緣組成，手腕是讓機(jī)器人用戶在手腕凸緣上安裝不同工具來做不同種工作。</p><p>　　機(jī)器手的軸使機(jī)械手在某一區(qū)域內(nèi)執(zhí)行任務(wù)，我們將這個(gè)區(qū)域?yàn)闄C(jī)器人的工作單元，該區(qū)域的大小與機(jī)械手的尺寸相對(duì)應(yīng)，一個(gè)典

12、型裝配機(jī)器人的工作單元。隨著機(jī)器人機(jī)械結(jié)構(gòu)尺寸的增加，工作單元的范圍也必須相應(yīng)增加。</p><p>　　機(jī)械手的運(yùn)動(dòng)由執(zhí)行元件或驅(qū)動(dòng)系統(tǒng)來控制。執(zhí)行元件或驅(qū)動(dòng)系統(tǒng)允許各軸在工作單元內(nèi)運(yùn)動(dòng)。驅(qū)動(dòng)系統(tǒng)可用電氣液壓和氣壓動(dòng)力，驅(qū)動(dòng)系統(tǒng)所產(chǎn)生的動(dòng)力經(jīng)機(jī)構(gòu)轉(zhuǎn)變?yōu)闄C(jī)械能，驅(qū)動(dòng)系統(tǒng)與機(jī)械傳動(dòng)鏈相匹配。由鏈、齒輪和滾珠絲杠組成的機(jī)械傳動(dòng)鏈驅(qū)動(dòng)著機(jī)器人的各軸。 </p><p><b>　　2.

13、控制器</b></p><p>　　機(jī)器人控制器是工作單元的核心?？刂破鲀?chǔ)存著預(yù)編程序供后續(xù)條用、控制外設(shè)，及與廠內(nèi)計(jì)算機(jī)進(jìn)行通訊以滿足產(chǎn)品經(jīng)常更新的需要。</p><p>　　控制器用于控制機(jī)械手運(yùn)動(dòng)和在工作單元內(nèi)控制機(jī)器人外設(shè)。用戶可通過手持的示教盒將機(jī)械手運(yùn)動(dòng)的程序編入控制器。這些信息儲(chǔ)存在控制器的存儲(chǔ)器中以備后續(xù)調(diào)用，控制器存儲(chǔ)了機(jī)器人系統(tǒng)的所有編程數(shù)據(jù)，它能存儲(chǔ)幾個(gè)不

14、同的程序，并且所有這些程序均能編輯。</p><p>　　控制器要求能夠在工作單元內(nèi)與外設(shè)進(jìn)行通信。例如控制器有一個(gè)輸入端，它能標(biāo)識(shí)某個(gè)機(jī)加工操作何時(shí)完成。當(dāng)該加工循環(huán)完成后，輸入端接通，告訴控制器定位機(jī)械手以便能抓取以加工工件，隨后機(jī)械手抓取一未加工工件，將其放置在機(jī)床上。接著，控制器給機(jī)床開始加工的信號(hào)。</p><p>　　控制器可以由根據(jù)時(shí)間順序而步進(jìn)的機(jī)械式輪轂組成，這種類型的控

15、制器可用在非常簡(jiǎn)單的機(jī)械系統(tǒng)中。用于大多數(shù)機(jī)器人系統(tǒng)中的控制器代表現(xiàn)代電子學(xué)的水平，是更復(fù)雜的裝置，即它們是由微處理器操縱的。這些微處理器可以是8位，16位或32位處理器。它們可以使得控制器在操作工程中顯得非常柔性。</p><p>　　控制器能通過通信線發(fā)送電信號(hào)，使它能與機(jī)器手各軸交流信息，在機(jī)器人的機(jī)械手和控制器之間的雙向交流信息可以保持系統(tǒng)操作和位置經(jīng)常更新，控制器亦能控制安裝在機(jī)器人手腕上的任何工具。&

16、lt;/p><p>　　控制器也有與廠內(nèi)各計(jì)算機(jī)進(jìn)行通信的任務(wù)，這種通信聯(lián)系使機(jī)器人成為計(jì)算機(jī)輔助制造（CAM）系統(tǒng)的一個(gè)組成部分。</p><p>　　存儲(chǔ)器?；谖⑻幚砥鞯南到y(tǒng)運(yùn)行時(shí)要與固態(tài)的存儲(chǔ)裝置相連,這些存儲(chǔ)裝置可以是磁泡，隨機(jī)存儲(chǔ)器、軟盤、磁帶等。每種記憶存儲(chǔ)裝置均能貯存、編輯信息以備后續(xù)調(diào)用和編輯。</p><p><b>　　3.動(dòng)力源<

17、/b></p><p>　　動(dòng)力源是給機(jī)器人和機(jī)器手提供動(dòng)力的單元。傳給機(jī)器人系統(tǒng)的動(dòng)力源有兩種，一種是用于控制器的交流電，另一種是用于驅(qū)動(dòng)機(jī)械手各軸的動(dòng)力源，例如，如果機(jī)器人的機(jī)械手是由液壓和氣壓驅(qū)動(dòng)的，控制信號(hào)便傳送到這些裝置中，驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。</p><p>　　對(duì)于每一個(gè)機(jī)器人系統(tǒng)，動(dòng)力是用來操縱機(jī)械手的。這些動(dòng)力可來源于液壓動(dòng)力源、氣壓動(dòng)力源或電源，這些能源是機(jī)器人工作單

18、元整體的一部分（本文譯自）</p><p><b>　　Robots</b></p><p>　　Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electro

19、nics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed qui

20、ckly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are dif</p><p>　　The industrial robot is used in the manufacturing env

21、ironment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that

22、might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of

23、radiati</p><p>　　The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will perform some

24、 sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for pr

25、ogramming and for turning the system on and off . </p><p>　　First.The basic terminology of robotic systems is introduced in the following : </p><p>　　1. A robot is a reprogrammable , multifuncti

26、onal manipulator designed to move parts , materials , tools , or special devices through variable programmed motions for the performance of a variety of different task . This basic definition leads to other definitions ,

27、 presented in the following paragraphs , that give a complete picture of a robotic system .  </p><p>　　2. Preprogrammed locations are paths that the robot must follow to accomplish work . At some of

28、 these locations , the robot will stop and perform some operation , such as assembly of parts , spray painting , or welding . These preprogrammed locations are stored in the robot’s memory and are recalled later for cont

29、inuous operation . Furthermore , these preprogrammed locations , as well as other program data , can be changed later as the work requirements change . Thus , with regard to this progra</p><p>　　3. The manip

30、ulator is the arm of the robot . It allows the robot to bend , reach , and twist . This movement is provided by the manipulator’s axes , also called the degrees of freedom of the robot . A robot can have from 3 to 16 axe

31、s . The term degrees of freedom of freedom will always relate to the number of axes found on a robot .</p><p>　　4. The tooling and grippers are not part of the robotic system itself ; rather , they are attac

32、hments that fit on the end of the robot’s arm . These attachments connected to the end of the robot’s arm allow the robot to lift parts , spot-weld , paint , arc-weld , drill , deburr , and do a variety of tasks , depend

33、ing on what is required of the robot .</p><p>　　5. The robotic system can also control the work cell of the operating robot . the work cell of the robot is the total environment in which the robot must perfo

34、rm its task . Included within this cell may be the controller , the robot manipulator , a work table , safety features , or a conveyor . All the equipment that is required in order for the robot to do its job is included

35、 in the work cell . In addition , signals from outside devices can communicate with the robot in order to tell the robot </p><p>　　second.The robotic system has three basic components : the manipulator , the

36、 controller , and the power source .</p><p>　　1 . Manipulator </p><p>　　The manipulator , which does the physical work of the robotic system , consists of two sections : the mechanical section a

37、nd the attached appendage .  The manipulator also has a base to which the appendages are attached . Fig.1 illustrates the connection of the base and the appendage of a robot .</p><p>　　The base of the m

38、anipulator is usually fixed to the floor of the work area .</p><p>　　Sometimes , though , the base may be movable . In this case , the base is attached to either a rail or a track , allowing the manipulator

39、to be moved from one location to another . </p><p>　　As mentioned previously , the appendage extends from the base of the robot . The appendage is the arm of the robot . It can be either a straight , movable

40、 arm or a jointed arm . the jointed arm is also known as an articulated arm .</p><p>　　The appendages of the robot manipulator give the manipulator its various axes of motion . These axes are attached to a f

41、ixed base , which , in turn , is secured to a mounting . This mounting ensures that the manipulator will remain in one location。</p><p>　　At the end of the arm , a wrist  is connected . The wrist is mad

42、e up of additional axes and a wrist flange . The wrist flange allows the robot user to connect different tooling to the wrist for different jobs . </p><p>　　The manipulator’s axes allow it to perform work wi

43、thin a certain area . This area is called the work cell of the robot , and its size corresponds to the size of the manipulator . Fig.2 illustrates the work cell of a typical assembly robot . As the robot’s physical size

44、increases , the size of the work cell must also increase .</p><p>　　The movement of the manipulator is controlled by actuators , or drive systems . The actuators , or drive system , allows the various axes t

45、o move within the work cell . The drive system can use electric , hydraulic , or pneumatic power . The energy developed by the drive system is converted to mechanical power by various mechanical drive systems .The drive

46、systems are coupled through mechanical linkages .These linkages, in turn , drive the different axes of the robot . The mechanical linkages ma</p><p>　　2. Controller</p><p>　　The controller in th

47、e robotic system is the heart of the operation. The controller stores preprogrammed information for later recall, control peripheral devices, and communicates with computers within the plant for constant updates in produ

48、ction </p><p>　　The controllers is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator in

49、to the controller through the use of a hand-held teach pendent. This information is stored in the memory of the controller for later recall. The controller stores all program data of the robotic system. It can store seve

50、ral different programs, and any of these programs can be edited.</p><p>　　The controller is also required to communicate with peripheral equipment within the work cell. For example, the controller has an inp

51、ut line that identifies when a machining operation is completed. When the machine cycle is completed, the input line turns on, telling the controller to position the manipulator so that it can pick up the finished part.

52、Then, a new part is picked up by the manipulator and placed into the machine. Next, the controller signals the machine to start operation.</p><p>　　The controller can be made from mechanically operated drums

53、 that step through a sequence of events. This type of controller operates with a very simple robotic system. The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-ar

54、t electronics. That is, they are microprocessor-operated. These microprocessors are either 8-bit, 16-bit, or 32-bit processors. This power allows the controller to be very flexible in its operation.</p><p>　

55、　The controller can send electric signals over communication lines that allow it to talk with the various axes of manipulator. This two-way communication between the robot manipulator and the controller maintains a const

56、ant update of the location and the operation of the system. The controller also controls any tooling placed on the end of the robot’s wrist. </p><p>　　The controller also has the job of communicating with th

57、e different plant computers . The communication link establishes the robot as part of a computer-assisted manufacturing (CAM) system.</p><p>　　As the basic definition stated , the robot is a reprogrammable ,

58、 multifunctional manipulator . Therefore , the controller must contain some type of memory storage . The microprocessor-based systems operate in conjunction with solid-state memory devices . These memory devices may be m

59、agnetic bubbles , random-access memory , floppy disks , or magnetic tape . Each memory storage device stores program information for later recall or for editing .</p><p>　　3. Power supply</p><p>

60、;　　The power supply is the unit that supplies power to the controller and the manipulator . Two types of power are delivered to the robotic system . One type of power is the AC power for operation of the controller . The

61、 other type of power is used for driving the various axes of the manipulator . For example , if the robot manipulator id controlled by hydraulic or pneumatic manipulator drives , control signals are sent to these devices

62、 , causing motion of the robot .</p><p>　　For each robotic system , power is required to operate the manipulator . This power can be developed from either a hydraulic power source , a pneumatic power source