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机器人Robots译文.doc
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机器人Robots译文.doc
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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.
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