机械毕业设计英文外文翻译27巴雷特机械手爪可编程式可弯曲部分的搬运和组装Word文档格式.docx
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机械毕业设计英文外文翻译27巴雷特机械手爪可编程式可弯曲部分的搬运和组装Word文档格式.docx
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机械毕业设计英文外文翻译27巴雷特机械手爪可编程式可弯曲部分的搬运和组装@#@附录A@#@MCB–IndustrialRobotFeatureArticle@#@TheBarrettHandgrasper–programmableflexibleparthandlingandassembly@#@Abstract@#@ThispaperdetailsthedesignandoperationoftheBarrettHandBH8-250,anintelligent,highlyflexibleeight-axisgripperthatreconfiguresitselfinrealtimetoconformsecurelytoawidevarietyofpartshapeswithouttool-changeinterruptions.Thegrasperbringsenormousvaluetofactoryautomationbecauseit:
@#@reducestherequirednumberandsizeofroboticworkcells(whichaverageUS$90,000each–notincludingthehighcostoffootprint)whileboostingfactorythroughput;@#@consolidatesthehodgepodgeproliferationofcustomizedgripper-jawshapesontoacommonprogrammableplatform;@#@andenablesincrementalprocessimprovementandaccommodatesfrequentnew-productintroductions,capabilitiesdeployedinstantlyviasoftwareacrossinternationalnetworksoffactories.@#@Introduction@#@Thispaperintroducesanewapproachtomaterialhandling,partsorting,andcomponentassemblycalled“grasping”,inwhichasinglereconfigurablegrasperwithembeddedintelligencereplacesanentirebankofunique,fixed-shapegrippersandtoolchangers.ToappreciatethemotivationsthatguidedthedesignofBarrett’sgrasper,wemustexplorewhatiswrongwithroboticstoday,theenormouspotentialforroboticsinthefuture,andthedead-endlegacyofgrippersolutions.@#@Forthebenefitsofaroboticsolutiontoberealized,programmableflexibilityisrequiredalongtheentirelengthoftherobot,fromitsbase,allthewaytothetargetworkpiece.Arobotarmenablesprogrammableflexibilityfromthebaseonlyuptothetoolplate,afewcentimetersshortofthetargetworkpiece.Buttheselastfewcentimetersofarobotmustadapttothecomplexitiesofsecuringanewobjectoneachrobotcycle,capabilitieswhereembeddedintelligenceandsoftwareexcel.Liketheweakestlinkinaserialchain,aninflexiblegripperlimitstheproductivityoftheentirerobotworkcell.@#@Grippershaveindividually-customized,butfixedjawshapes.Thetrial-and-errorcustomizationprocessisdesignintensive,generallydrivescostandschedule,andisdifficulttoscopeinadvance.Ingeneral,eachanticipatedvariationinshape,orientation,androbotapproachanglerequiresanothercustom-but-fixedgripper,aplacetostoretheadditionalgripper,andamechanismtoexchangegrippers.Anunanticipatedvariationorincrementalimprovementissimplynotallowable.@#@Bycontrast,themechanicalstructureofBarrett’spatentedgrasper,illustratedinFigure1,isautomaticallyreconfigurableandhighlyprogrammable,matchingthefunctionalityofvirtuallyanygrippershapeorfixturefunctioninlessthanasecondwithoutpausingtheworkcellthroughputtoexchangegrippers.@#@Fortasksrequiringahighdegreeofflexibilitysuchashandlingvariablyshapedpayloadspresentedinmultipleorientations,agrasperismoresecure,quickertoinstall,andmorecosteffectivethananentirebankofcustom-machinedgripperswithtoolchangersandstorageracks.@#@Foruninterruptedoperation,justoneortwosparegrasperscanserveasemergencybackupsforseveralworkcells,whereasoneortwosparegrippersarerequiredforeachgrippervariation–potentiallydozensperworkcell.And,it’scatastrophicifbothgripperbackupsfailinagrippersystem,sinceitmaybedaysbeforereplacementscanbeidentified,customshapedfromscratch,shipped,andphysicallyreplacedtobringtheaffectedlinebackintooperation.Bycontrast,sincegraspersarephysicallyidentical,theyarealwaysavailableinunlimitedquantity,withallcustomizationprovidedinstantlyinsoftware.@#@Gripperlegacy@#@Mostoftoday’sroboticparthandlingandassemblingisdonewithgrippers.Ifsurfaceconditionsallow,vacuumsuctionandelectromagnetscanalsobeused,forexampleinhandlingautomobilewindshieldsandbodypanels.Aspartsizesbegintoexceedtheorderof100gms,agripper’sjawsarecustomshapedtoensureasecurehold.Asthedurablemainstayofhandlingandassembly,thesetoolshavechangedlittlesincethebeginningofroboticsthreedecadesago.@#@Grippers,whichactassimplepincers,havetwoorthreeunarticulatedfingers,called“jaws”,whicheitherpivotorremainparallelduringopen/closemotionsasillustratedinFigure2.Wellorganizedcatalogsareavailablefrommanufacturersthatguidetheintegratororcustomerinmatchingvariousgrippercomponents(exceptnaturallyforthecustomjawshape)tothetaskandpartparameters.@#@Payloadsizesrangefromgramsfortinypneumaticgrippersto100+kilogramsformassivehydraulicgrippers.Thepowersourceistypicallypneumaticorhydraulicwithsimpleon/offvalvecontrolswitchingbetweenfull-openandfull-closestates.Thejawstypicallymove1cmfromfull-opentofull-close.Thesehandshavetwoorthreefi
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