Robots机器人 中英文翻译

Robots
A robot is an automatically controlled, reprogrammable, multipurpose, mani pulating machine with several reprogrammable axes, which may be either fixed in place or mobile for use in industrial automation applications.
The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements.The term”reprogrammabl e” implies two things:The robot operates according to a written program can b e rewritten to accomdate a variety of manufacturing tasks. The term “multipurp ose” means that the robot can perform many different functions, depending on the program and tooling currently in use.
Over the past two decades,the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can per form certain basic tasks more quickly and accurately than humans, they are bei ng increasingly used in various manufacturing industries.
Structures of Robots
The typical structure of industrial robots consists of 4 major components: the manipulator, the end effector, the power supply and control syterm.
The manipulator is a mechanical unite that provides motions similar to those of a human arm. It often has a shoulder joint,an elbow and a wrist. It can rotate or slide, strech out and withdraw in every possible direction with certain flexibility.
The basic mechanical configurations of the robot manipulator are categorized as Cartesian, cylindrical, spherical and articulated.A robot with a Cartesian geometry can move its gripper to any position within the cube or rectangle defined as its working volum.Cylindrical coordinate robots can move the gripper within a volum that is described by a cylinder. The cylindrical coordinate robot is positioned in the work area by two linear movements in the X and Y directions and one angular rotation about the Z axis.Spherical arm geometry robots have an irregular work envelop. This type of robot has two main variants,vertically articulated and horizontally articulated.
The end effector attaches itself to the end of the robot wrist, also called end-of-arm tooling.It is the device intended for performing the designed operations as a human hand can.End effectors are generally custom-made to meet special handling requirements. Mechanical grippers are the most commonly used and are equipped with two or more fingers.The selection of an appropriate end effector for a special application depends on such factors as the payload, enviyonment,reliability,and cost.
The power supply is the actuator for moving the robot arm, controlling the joints and operating the end effector. The basic type of power sources include electrical,pneumatic, and hydraulic. Each source of energy and each type of motor has its own characteristics, advantages and limitations. An ac-powered motor or dc-powered motor may be used depending on the system design and applications. These motors convert electrical energy into mechanical energy to power the robot.Most new robots use electrical power supply. Pneumatic actuators have been used for high speed. Nonservo robots and are often used for powering tooling such as grippers. Hydraulic actuators have been used for heavier lift systems, typically where accuracy was not also requied.
The contro system is the communications and information-processing system that gives commands for the movements of the robot. It is the brain of the robot; it sends signals to the power source to move the robot arm to a specific position and to the end effector.It is also the nerves of the robot; it is reprogrammable to send out sequences of instructions for all movements and actions to be taken by the robot.
A open-loop controller is the simplest for of the control system, which controls the robot only by foolowing the predetermined step-by-step instructions.This system dose not have a self-correcting capability.A close-loop control system use feedback sensors to produce signals that reflct the current states of the controed objects. By comparing those feedback signals with the values set by the programmer, the close-loop controller can conduct the robot to move to the precise position and assume the desired attitude, and the end effector can perform with very high accuracy as the close-loop control system can minimize the discrepancy between the controlled object and the predetermined references.
Classification of Robot
Industrial robots vary widely in size,shape, number of axes,degrees of freedom, and design configuration. Each factor influence the dimensions of the robot’s working envelop or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as below.
Fixed-and Variable-Sequence Robots. The fixed-sequence robot (also called a pick-and place robot) is programmed for a specific sequence of operations. Its movements are form point to point, and the cycle is repeated continuously.The variable-sequence robot can be programmed for a specific sequence of operations but can be programmed to perform another sequence of operation.
Playback Robot. An operator leads or walks the playback robot and its end effector through the desired path. The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.
Numerically Controlled Robot. The numerically controlled robot is programmed and operated much like a numerically controlled machine. The robot is servocontrolled by digital data, and its sequence of movements can be changed with relative ease.
Intelligent Robot. The intelligent robot is capable of performing some of the functions and tasks carried out by huanbeings.It is equipped with a variety of sensors with visual and tactile capabilities.
Robot Applications
The robot is a very special type of productin tool; as a result, the applications in which robots are used are quite broad. These applications can be grouped into three categories: material processing, material handling and assembly.
In material processing, robots use tools to process the raw material. For example, the robot tools could include a drill and the robot would be able to perfor drilling operaytions on raw material.
Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed relatively and repeatedly with robots, thereby improving quality and scrap losses.
Assembly is another large application area for using robotics. An automatic assembly system can incorporate automatic testing, robot automation and mechanical handling for reducing labor costs, increasing output and eliminating manual handling concers.
机器人
机器人是一种自动控制的、可重复编程的、多功能的、由几个可重复编程的坐标系来操纵机器的装置，它可以被固定在某地，还可以是移动的以在工业自动化工厂中使用。

机器人的主要优点在于可重复编程和多功能性，因为大多数功能单一的机器不能满足这两种要求。

“可重复编程”包含两层含义：机器人根据已经设定的程序运转，并且这个程序可以被重写以适应多种制造任务。

“多功能”意味着机器人可以拥有多种不同的功能，这依赖于当前正在使用的程序和工具。

经过过去20年的发展，机器人已经进入到工厂来完成许多单调的和不安全的操作任务。

因为机器人可以比人更快更准确地完成某些基本任务，所以机器人正在大量的应用于各种制造企业。

机器人的结构
工业机器人的典型结构包括4个主要部分：操纵器、终端执行机构、动力供给和控制系统。

操纵器是一个机械系统，进行类似人的手臂的运动。

它通常有一个肩关节、一个肘部和腕部。

它能旋转或滑动，以一定的弹性在各种可能的方向上伸缩。

机器人操纵器的基本机械构造可以分为：笛卡儿形、圆柱形、球形和铰链形。

笛卡儿坐标式机器人可以通过在X和Y方向的线性运动和相对于Z轴的一定角度的旋转来定位工作范围。

球形手臂几何形状的机器人通过两个旋转和一个线性运动定位腕部。

铰链形工业机器人具有一种不规律的工作范围。

这种类型的机器人具有两个重要变量：垂直铰链和水平铰链。

终端执行机构连接在机器人腕部的末端，也称为臂端工具。

这是用来像人手一样完成所设计的操作的装置。

终端执行机构一般都是定做的，以适合专用操作的需要。

机械手是最常用的，一般装有两个或多个手指。

选择一种特殊用途的合适的终端执行机构依赖于有效载荷、环境可靠性和价格等多种因素。

动力源是移动机械手、控制关节、操作终端执行机构的驱动器。

基本的动力源包括电力、气动、液压3种。

每种能量和各种发动机都具有自身的特性、优点和局限性。

选择交流或直流电动机依赖于系统的设计和用途。

这些发动机把电能转化为机械能为机器人提供能量。

大多数新型机器人采用电力驱动。

气动驱动器应用于告诉、非伺服机器人，也应用于动力驱动工具，如手爪。

液压驱动器用语较重的提升系统，尤其是精确度要求不高的场合。

控制系统是通信和信息处理系统，由它发出指令以驱动机器人运动。

它是机器人的大脑，它向动力源发出信号，把机器人手臂移动到特定位置，并驱动终端执行机构。

它也是机器人的神经系统，对机器人的所有运动及动作所发送的指令
序列是可重复编程的。

一个开环控制器是控制系统的最简单形式，它通过预定的按部就班的指令控制机器人。

这样的系统没有自我纠错能力。

闭环控制系统由反馈传感器产生信号，这些信号反映被控目标的当前状态。

通过将反馈信号与程序员设定的值相对比，闭环控制器能引导机器人向准确的位置运动并实现期望的状态：终端执行机构可以高度精确的工作，因为闭环控制系统可以使被控目标与设定值之间的误差最小。

机器人的分类
工业机器人在尺寸、形状、坐标数量、自由度和设计构造上都多种多样。

每个因素都影响着机器人的工作范围或它能够运动和执行指定任务的空间区域。

广义的机器人分类如下所述。

固定顺序和可变顺序的机器人。

固定顺序机器人（也称为拾取和定位机器人）是为完成一系列特定的操作而进行编程实现的，它的运动是点到点的，并且可以不断循环。

可变顺序机器人是为完成特定顺序的操作进行编程实现的，也可以为其他系列操作重新编程。

学演机器人。

操作者可以按照期望路径引导学演机器人和其终端执行机构运动。

机器人可以记忆和记录运动的循序和途径，并能在没有操作者的进一步引导和示范的情况下连续重复这些动作。

数字控制机器人。

数字控制机器人的编程和操作非常类似于数控机床。

这种机器人由数字数据伺服控制，运动顺序可以相对容易的改变。

智能机器人。

智能机器人能够执行一些人才能完成的功能和任务。

它可以配备各种传感器以具备视觉和触觉功能。

机器人的应用
机器人是一种很特别的生产工具，因此，机器人应用的范围十分广泛。

这些应用可以被划分为3类：材料处理、材料搬运和装配。

在材料处理中，机器人用工具来加工和处理原材料。

例如，机器人工具可包括钻头，从而可以在原材料上执行钻孔操作。

材料搬运包括装载、卸载和转移制造设备上的加工零件。

这些操作可以由机器人可靠的重复执行，因为提高了质量，减少了废料损失。

装配是机器人技术的另一个广泛应用。

自动装配系统能合并自动测试、机器人自动控制和机械处理，以减少劳动成本，提高质量，消除人工操作的危险性。