外文翻译中文.docx
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外文翻译中文.docx
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外文翻译中文
Low-CostRobotsforResearchandTeachingActivities
MarcoCeccarelli
LaboratoryofRoboticsandMechatronics
DiMSAT–UniversityofCassino
ABSTRACT
Increaserobotutilizationmaybeviewedintermoflow-costdesignsandoperations,whicharebasedontheuseofproductsfromthemarketfortherobotcomponents.Low-costrobotsarerelatedtonewemergingapplicationareas.Themarketcomponentsgivethepossibilitytobuildrobotsatalowpricebuttheyalsoreducethecapabilityofrobotstospecifictasks.Low-costrobotscanbealsooperatedinasimplerwaycomparedtothetypicalindustrialrobots.Inthispaper,anoverviewispresentedonlow-costrobotsbydiscussingbasiccharacteristics,applications,andmotivationforafuturesuccess.Theimportanceoflow-costrobotscanberecognizedinthefactthattheycanbeavailableeverywhereatdifferentlevelofcostandcomplexity.Therefore,theaimofthepaperistosuggesttheuseoflow-costrobotsbothforteachingandinvestigationtoanyteacherandresearcherinanyInstitutionwiththepossibilitytoachievesignificantresultsbothinteachingandresearchactivities.ParticularattentionhasbeenaddressedtoresearchandteachingactivitiesinUniversityInstitutionswiththeaimtostressthefundamentalroleofengineersformationinRoboticsbyusinglow-costrobotswithevennovelsolutionsfor.Examplesofasuccessfulactivitybyusinglow-costrobotshavebeenillustratedasthosedevelopedatLARM,theLaboratoryofRoboticsandMechatronicsinCassino,Italy.
Keywords:
Robotics,Low-CostRobots,RobotDesign,ExperimentalRobotics,Teaching.
LOW-COSTROBOTS
Arobotcanbedefinedasaflexibleversatilesystemwhosebasiccomponentsare,-amechanicalstructureormanipulator,whichisthemechanicalarchitecturethatperformsthemanipulativetasksand/orinteractionwiththeenvironment;-apowerunit,whichprovidesthenecessaryenergytothesysteminaproperformandlevel(inthecaseofelectricenergy,generallyitistheconnectiontotheelectricnetwork);
-asensorequipment,whichcanbeinsideandoutsidethemanipulator,andconsistsofsensorsthatareusefultodetectthemanipulatorstateandenvironmentcharacteristics;
-acontrolunit,whichhasthepurposetoelaborateinformationreceivedfromthesensorequipment,toprogramthetaskoperationandregulatetherobotandparticularlyeachcomponentforaprescribedtaskthroughcontrolsignalsthatoperatethesystems;
-anadditionalcomputerequipment,whichisnecessarytoincreasetheelaborationcapabilityandcontrollerpower,butmainlytoperformanartificialintelligencecapabilityand/orautonomousbehavior.
Theflexibilityofarobotreferstothecapabilityofreprogrammingtheoperationofthesystemforavarietyoftasks.
Theversatilityofarobotreferstothecapabilityofperformingavarietyofmanipulationtasks.Amanipulationcanbeconsideredanoperationofthemanipulatorarchitectureinordertomoveagraspedobjectorthemanipulatorextremity.
Consequently,thedesignandoperationofarobotrequiresintegrationofmanydifferentsystemswithamulti-disciplinemechatronicapproach.
Low-costrobotscanbeidentifiedasthoserobotswhosecostisatlowlevelbutalsothecomponentsaretakenfromthemarket.Consequently,theyhavethemaincharacteristicsofbeingofsimpledesign,easyoperation,andwithlimitedprogrammingcapabilitysothatgenerallytheycanbedevotedtospecifictasksforeasymanipulations.Howeveranestimationofcostofarobotcanvaryfromtimetotimeandfromarchitecturetoarchitecture.Butneverthelessarobotcanbeconsideredalow-costrobotwhenitscostisconsiderablelessthanthatoneofothercomparableindustrialrobotsanditscomponentsaretakenfromthemarketofcommonAutomation.Therefore,alowcostrobotcanevenhaveacomplexarchitecture.Examplesareshownthroughoutthepaper.Sincethebeginningof'90sattentionhasbeenaddressedtolow-costrobotsasapromisingevolutionofindustrialAutomationandasimplificationofrobotsinordertoachieveawiderdiffusionofrobotsasanindustrialmachineryandfriendlyuser-orientedsystems,aspointedoutin(Ceccarelli2001).Therefore,inthelastdecadelow-costrobotshavebeenbuiltandcanberecognizedmainlyin:
-roboticmanipulators;
-grippersandgraspingdevices;
-mobilerobotsandwalkingmachines;butnotyetinawholedesignforhumanoidrobotsandcomplexroboticsystems.Mostoftherecentdevelopmentsforlow-costrobotshavebeenfocusedintheactuationsystemandmechanicaldesignthatarerelatedtothemainmechanismsintherobot.Thesimplifiedmechanicaldesignhassuggestedandfurtherpermittedalsotheuseofcontrolandprogrammingequipmentwithlow-costandmarketcomponentsfromcommonautomationsystems.Butthesimplificationofthecomponentsbringstoaconsiderablereductionofrobotcapability.Neverthelessthisreductioncanbeacceptableinmanyapplicationswheretheprescribedtaskiswelldefinedwithlowlevelofmanipulationandoperationvariabilityfordurationoftherobotlifeyet.Inthosecasesgreatversatilityandflexibilityarenotusedandthereforenotrequired.Therefore,itisrecognizedthatinmostofthecasesafullversatilerobotisnotconvenientbothfromfinancialviewpointandtechnicaloperationefficiency.Fullversatilerobotscanbeconsideredforexamplethehumanoidrobotsthataredesignedandstillunderdevelopmentwithanintenseresearchactivityfortheaimtoreplicatehumanbeingswiththeirskillsandevenmore,asreviewedin(Fukudaetal.2001).Nevertheless,evenhumanoidrobotscanbedesignedandbuiltatdifferentlevelsofcomplexityandcapabilityasdependingofthepracticalpurposes.
Low-costrobotscanbefoundandwillbedevelopedmoreandmorenotonlyforindustrialapplicationsbuteveninnewemergingareasfortheuseofrobots.Thus,onecanfindroboticarms,whichareadvertisedwithlow-costfeaturesasmaincharacteristics.
MOTIVATIONANDAPPLICATIONSFORLOW-COSTROBOTS
Basicmotivationforfurtherworkindevelopinglow-costrobotscanberecognizedinrequirementsandneedsforrobotswithlow-cost,easyoperation,andsimpledesignwithmarketcomponentsThefundamentalmotivationforlow-costrobotscanbealsoadvisedinfinancialreasons,.Thecostofrobotusecanberecognizedasfruitfulformanufacturingprocesses,whichhavethecharacteristicsofbeingnon-massiveproductionandvariableintermsofvarietyofproductsandup-datingdesign.
Thelow-costrobotsexpandthefieldofpracticalapplicationofrobotsasclearlystressedintheplotsofFig.4,bothforsmallandmassiveproductions.Thiseffectofexpandingthefieldofapplicationofrobotsisevenincreasedbythetechnicalfeaturesofthelow-costrobotsthatdonotrequireveryexpertoperators.
Fig.4Unitcostofproductsversusnumberofproductsintermsofdifferentproductionsystems.
Infact,anotherfundamentalmotivationfordevelopinglow-costrobotscanbeadvisedinthepsychologicalfactthattheywillbeapproachedbyplantengineersandoperatorsasanyotherAutomationequipmentwithoutrequiringtheparticularcareandtrainingthatthecurrentindustrialrobotsneed.Therefore,thelow-costrobotscaneasilyfindanapplicationintheexistingAutomationequipmentwhentheyarerecognizedasadditionalautomaticdevices.Inaddition,theacceptanceoflow-costrobotsinindustrialplantsisfacilitatedwhenthemaintenancedoesnotrequire
particularattention,instrumentation,andexpertise.Furthermore,theacceptancecanberecognizedeasybecauseofthemarketcomponentsfromtheAutomationsystemsthatcanbeusedinlow-costrobots.Theincreaseofthelow-costrobotusescanbethoughtnotonlyinindustrialapplicationsbutalsomainlyinthenewfieldswhererobotsareandwillbeappliedmoreandmore.Inthefieldsofrobotapplicationsthesimplicityoftherobotdesignandoperationisfundamentalevenfortherobotacceptanceatlarge.Significantistheexampleconcerningwithso-calledservicerobots,whichareroboticsystemsformanipulativetasksinservicingindiaryactions,likehousekeepingandcleaning,orinmedicalapplications,likenurseryassistanceinhospitaloreveninthehouse,orlikesurgeryhelptoimprovethequalityandefficiencyofsurgeons'skills.Asimpledesign(orevenanthropomorphicshapeddesign)andeasyoperationoftheseservicerobotsseemtobefundamentalforacceptingthembythoseusers,whomayhavenoknowledgeofRoboticsneitherofEngineeringandcanbefrightenedbythepresenceofaroboticsystemintheirenvironment.
Afriendlyorienteddesignofrobotscanbeobtainedbyusingmarketcomponents,whichcanbefamiliartonon-expertrobotuserstoo.Indeed,theuseofmarketcomponentsinroboticsystemscanhelptoobtainalow-costrobotalsobecausetheycanfacilitatethedesign,construction,operation,andmaintenance,butevenprogrammingandadjustmenttospecificapplications.Inaddition,onecanevenseetheuseofmarketcomponentsinlow-costrobotsfromanothercomplementaryviewpointwhenonetakesadvantageofmarketcomponentswithlow-costandeasyoperationasaprimarygoalinordertobuildcomplicatesystemsbyusingtheirknowncharacteristics.Thislastconsiderationmakeslow-costrobotsasresultsandnotgoalsofanengineeringapproachfordevelopingpopularuser-orientedsystems.
RESEARCHLINES
Thefurtherdevelopmentoflow-costrobotsrequiresinvestigationandenhancementinmanyaspectsas:
-designandoperationofsinglemarketcomponents;
-designmethodologiesforusingmarketcomponents;
-newarchitectures;
-exploringnewapplications.
Manymarketcomponen
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