工业机器人机械手外文翻译.doc
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工业机器人机械手外文翻译.doc
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外文翻译
IntroductiontoRobotics
MechanicsandControl
机器人学入门
力学与控制
系 别:
机械与汽车工程系
专业名称:
机械设计制造及其自动化
学生姓名:
郭仕杰
学 号:
06101315
指导教师姓名、职称:
贺秋伟副教授
完成日期2014年2月28日
IntroductiontoRobotics
MechanicsandControl
Abstract
Thisbookintroducesthescienceandengineeringofmechanicalmanipulation.Thisbranchoftherobothasbeeninseveralclassicalfieldbased.Themainrelatedfieldssuchasmechanics,controltheory,computerscience.Inthisbook,Chapter1through8topicsrangingfrommechanicalengineeringandmathematics,Chapter9through11covercontroltheoryofmaterial,andtwelfthand13maybeclassifiedascomputersciencematerials.Inaddition,thisbookemphasizesthecomputationalaspectsoftheproblem;forexample,eachchapteritmainlymechanicalhasabriefsectioncalculation.Thisbookisusedtoteachtheclassnotesintroductiontorobotics,StanfordUniversityinthefallof1983to1985.Thefirstandsecondversionshavebeenthrough2002inusefrom1986institutions.Usingthethirdversioncanalsobenefitfromtherevisedandimprovedduetofeedbackfrommanysources.Thankstoallthosewhomodifiedtheauthor'sfriends.Thisbookissuitableforadvancedundergraduatesthefirstgradecurriculum.Ifstudentshavecontributedtothedynamicsandlinearalgebracourseinadvancedlanguageprograminabasiccourseofstatics.Inaddition,itishelpful,butnotabsolutelynecessary,letthestudentsfinishthecoursecontroltheory.Thepurposeofthisbookisasimpleintroductiontothematerial,intuitiveway.Specifically,doesnotneedtheaudiencemechanicalengineerstrict,althoughmuchofthematerialisfromthefield.AttheStanfordUniversity,manyelectricalengineers,computerscientists,mathematiciansfindthisbookveryreadable.Hereweonlyontheimportantparttoextract.
Themaincontent
1、Background
Thehistoricalcharacteristicsofindustrialautomationispopularduringtheperiodofrapidchange.Eitherasacauseoraneffectofautomationtechnology,periodofthischangeiscloselylinkedtotheworldeconomy.Useofindustrialrobots,canbeidentifiedinauniquedevice1960's,withthedevelopmentofcomputeraideddesign(CAD)systemandcomputeraidedmanufacturing(CAM)system,thelatesttrends,automatedmanufacturingprocess.Thetechnologyistheleadingindustrialautomationthroughanothertransition,itsscopeisstillunknown.InthenorthernAmerica,machineryandequipmentusedinearly80'softhe20thcentury,thelate80'softhe20thcenturyashortpull.Sincethen,themarketmoreandmore(Figure1.1),althoughitisaffectedbyeconomicfluctuations,allthemarket.Figure1.2showstherobotswereinstalledinalargenumberofannualworldindustrialzone.Notably,thenumberofJapan'sreportisdifferentfromotherareas:
theycountthenumberofmachineofrobotinotherpartsoftheworldarenotconsideredrobot(instead,theywouldsimplybeconsidered"factorymachines").Therefore,thereportedfiguresfortheJapaneseexaggerated.
Oneofthemainreasonforthegrowthintheuseofindustrialrobotsisthattheyarefallingcosts.Fig.1.3showsthat,inthelastcentury90'stenyears,robotpricesdroppedalthoughhumanlaborcosts.Atthesametime,therobotisnotonlycheaper,theybecomemoreeffectiveandfaster,moreaccurate,moreflexible.Ifwefactorthesequalityadjustedtothenumber,theuseofrobotstodecreasethecostofeventhantheirpricetagfaster.Morecost-effectiveintherobottheybecome,ashumanlabortobecomemoreexpensive,moreandmoreindustrialworkbecomerobotautomationcandidate.Thisisthemostimportanttrendtopromotetheindustrialrobotmarketgrowth.Thesecondtrendis,inadditiontotheeconomic,asrobotsbecomemorecanbecomemoretaskstheycando,mayhaveonhumanworkersengagedindangerousorimpossible.Industrialrobotsperformgraduallygetmorecomplex,butitisstill,in2000,about78%installationweldingormaterialhandlingrobotinUSArobot.
Amorechallengingfield,industrialrobots,accountedfor10%unit.Thisbookfocusesonthedynamicsandcontrolofthemostimportantformsofindustrialrobot,manipulator.Whatistheindustrialrobotissometimesdebate.Equipment,asshowninFigure1.4isalwaysincluded,andCNCmillingmachine(NC)isusuallynot.Thedifferenceliesintheprogrammablecomplexplaceifamechanicaldevicecanbeprogrammedtoperformavarietyofapplications,itmaybeanindustrialrobot.Thisisthepartofalimitedclassoftasksareconsideredfixedautomation.Forthepurposeofthisdifference,donotneedtobediscussed;thebasicpropertiesofmostmaterialssuitableforvariousprogrammablemachine.
Ingeneral,themechanicalandcontrolresearchofthemechanicalhandisnotanewscience,butacollectionofthethemefr
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