翻譯---美國(guó)機(jī)器人產(chǎn)業(yè)50年發(fā)展及現(xiàn)狀

1、Drive System Design for Rotary Motion of MechanicalHand(Arm1.A mechanical hand was first used to carry radioactive materials in the nuclear experimentmade by the USA at late stage in 1940s when human beings operated the mechanical hand ina safety cage to make all sorts of experiments. Mechanical han

2、ds have been graduallyextended to industrial production department since 1950s to take work pieces and handlematerials where it is seriously polluted at high temperature. It is also used for automaticmachine. Automatic production line, and machining center as an auxiliary device to chargeand dischar

3、ge, take a cutting tool from tool storage, and replace a cutting tool according tofixed program. A mechanical hand mainly consists of a hand mechanism and a kinematic one.The hand mechanism varies with application and action-object and usually falls into gripping,holding, and absorbing types. The ki

4、nematic mechanism is generally driven by hydraulic,pneumatic, and electrical hand may independently realize stretching, rotation, and up anddown movements.In the article it is to make a study of mechanical hand used for internal grinder in abearing production line, which is mainly to carry upper fro

5、m entrance to chuck, from chuck todischarge point. Upper bearing is also an important part in a compressor of Sanyo. Much ofthe mechanical hand used for previously internal grinder cannot meet current productionrequirements as it was it a product of several decades age; for example, the servomotor a

6、ndservo amplifier used for the mechanical hand have become out of date. It is very difficult topurchase their spare parts, and it is will be very hard to repair in the case of failure. Secondlythe control system is out of date, and it is very complicate and maintain. The whole control system of the

7、mechanical hand (including the servo motor and servo amplifier is analyzedand designed in the article according to the above-mentioned. The performance and functionof the servo amplifier are analyzed and designed, and pattern selection is made for the servomotor. It has used been used in practice fo

8、r the purpose of being cost saving and efficient.2.With the development of Robotic technology and the constant enlargement of the robot application, the performance to the robot has put forward higher request. As the key part of the robot, the systematic structure of the robot controller has been a

9、focus in robotics all thetime. To a certain extent, It is influencing the development of the robot. Aim at the defect of the traditional robot controller with close structure, it is a developing direction of a present robot controller to develop the module with open structure, open, standardizationa

10、l robot controller. This thesis elaborates the instauration on the basis of robot noumenon openly, the module advanced robot controls platform,adopt that the control theory and method of theadvanced robot. It can realize the development that many robots coordinate and control.Firstly, this thesis es

11、tablish blue print of opening control system for CINCINNATI robotand analyses the functions and hardware constructions of the PMAC programmable multiplespindle controller, the YANHUA IPC and the Japanese Panasonics servo electrical machinery and the servo driver. Then obtained the gross hardware pla

12、tform structure of opening control system for CINCINNATI robot.Secondly, with modularized design philosophy, the hardware of robot control system was divided into power supply unit, monitor unit, driver unit, motor unit, main control unit etc. Then expound each unit inte rnal structure and hardware

13、connecting, electrical connection between each unit. Thereby complete CINCINNATI robot control system electrical designs.Thirdly, in order to advance the control quality, this theses adopt VB, PLC and Panasonicservo driver to design a CINCINNATI robot servo magnification adjustment testing system, t

14、hereby establish the foundation of on-time load inertia measurement for the CINCINNATI robot.Finally, the inertia parameter identification is the radical topic in the robot dynamical research. In order to establish dynamic model of CINCINNATI robot to realize the movement and dynamic control, this t

15、hesis place stress on research of inertia parameter distinguishment means for CINCINNATI robot.The kinematics and dynamics performance of the manipulator will influence the application of the manipulator directly, so its very necessary for manipulator to carryonthe research in this respect. This pap

16、er uses kinematics and dynamics research approach tocarry on deep kinematics analysis and dynamics analysis to the manipulator. Utilizeartificial software ADAMS of mechanical system dynamics, carry on the artificial analysisof the manipulator.In the manipulator kinematics analysis aspect, study the

17、machine position posturedescription and DH coordinates, then establish the manipulator kinematics mode. In the manipulator model analysis foundation, under the different coordinate system study the manipulator equation of motion differential transformation, elegantly extracted the equation of motion

18、 transformation.In the manipulator dynamics analysis aspect, discuss the manipulator joint static reaction and motional reaction question, establish the manipulator model in view to carry on the solution computation; analyze the manipulator Kane dynamic equation. Establish the series joint robot dyn

19、amics model with mechanical system dynamics analysis software ADAMS; analyze various joints state of motion; discuss under the different ambient condition the joint driver moment curve and various joints movement relations curve change, for thoroughly studies the manipulator kinematics and dynamics

20、question, as well as the series joint robot main body and the controller design has provided the rationale. This article has the certain guiding sense to the series robot design. Using this article research technique, may effectively enhance the design quality and reduces the design cycle. Has an im

21、portant sense for designing manipulator, and shorten the circle of design.機(jī)械手(臂旋轉(zhuǎn)動(dòng)作驅(qū)動(dòng)控制系統(tǒng)1.20 世紀(jì)40 年代后期,美國(guó)在原子能實(shí)驗(yàn)中,首先采用機(jī)械手搬運(yùn)放射性材料人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50 年代以后,機(jī)械手逐步推廣到工業(yè)生產(chǎn)部門,用于在高溫污染嚴(yán)重的地方取放工件和裝卸材料,也作為機(jī)床的輔助裝置在自動(dòng)機(jī)床自動(dòng)生產(chǎn)線和加工中心中應(yīng)用,完成上下料或從刀庫(kù)中取放刀具并按固定程序更換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同,常見(jiàn)的有夾持托持和吸附等類型

22、。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓、氣動(dòng)、電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮旋轉(zhuǎn)和升降等運(yùn)動(dòng)。本文研究的是上軸承生產(chǎn)線內(nèi)圓磨床所使用的機(jī)械手,它的主要工作是對(duì)上軸承進(jìn)行搬運(yùn),由入口到夾盤,再由夾盤到出口。上軸承也是三洋壓縮機(jī)內(nèi)部的重要部件。由于原有的內(nèi)圓磨床所采用的機(jī)械手是幾十年前的產(chǎn)品,因此有很多地方已經(jīng)不能適應(yīng)現(xiàn)在的生產(chǎn)要求,比如說(shuō)機(jī)械手所使用伺服電機(jī)和伺服放大器已經(jīng)被淘汰,備件很難購(gòu)買,一旦故障就很難修理。其次就是控制系統(tǒng)已經(jīng)過(guò)時(shí),操作維護(hù)都顯得很煩瑣等等。本文就根據(jù)這種情況,對(duì)機(jī)械手的整個(gè)控制系統(tǒng)(包括伺服電機(jī),伺服放大器等進(jìn)行了研究與設(shè)計(jì)。對(duì)伺服放大器的性能、功能進(jìn)行了研究并加以設(shè)計(jì),并對(duì)伺服電

23、機(jī)選型,并在實(shí)際工作中得到了應(yīng)用達(dá)成了節(jié)約成本,提高效率的目的。2.機(jī)器人技術(shù)的發(fā)展,機(jī)器人應(yīng)用領(lǐng)域的不斷擴(kuò)大,對(duì)機(jī)器人的性能提出了更高的要求。作為機(jī)器人的核心部分,機(jī)器人控制器系統(tǒng)結(jié)構(gòu)一直是機(jī)器人學(xué)中的熱點(diǎn)。它在一定程度上影響著機(jī)器人的發(fā)展。針對(duì)傳統(tǒng)結(jié)構(gòu)封閉式機(jī)器人控制器的缺陷,開(kāi)發(fā)“具有開(kāi)放式結(jié)構(gòu)的模塊化、開(kāi)放式、標(biāo)準(zhǔn)化的機(jī)器人控制器”是當(dāng)前機(jī)器人控制器的一個(gè)發(fā)展方向。本論文闡述在CINCINNATI 六自由度機(jī)器人本體的基礎(chǔ)上建立開(kāi)放式、模塊化的先進(jìn)機(jī)器人控制平臺(tái),采用先進(jìn)機(jī)器人的控制理論與方法,可實(shí)現(xiàn)多機(jī)器人協(xié)調(diào)與控制的發(fā)展。論文首先確定建立CINCINNATI 機(jī)器人開(kāi)放式控制系統(tǒng)的方案,并分別對(duì)PMAC可編程多軸控制器、研華的工控機(jī)、日本松下的伺服電機(jī)及伺服驅(qū)動(dòng)器的功能和硬件組成進(jìn)行了分析,從而得出CINCINNATI 機(jī)器人控制系統(tǒng)的硬件平臺(tái)總體結(jié)構(gòu)。其次,采用模塊化的設(shè)計(jì)思想,將機(jī)器人的硬件系統(tǒng)分為供電單元、監(jiān)控單元、驅(qū)動(dòng)單元、電機(jī)單元、主控單元五大模塊。分別闡述各