工業(yè)機(jī)器人專業(yè)英語(yǔ)教學(xué)課件Chapter-7

工業(yè)機(jī)器人專業(yè)英語(yǔ)

EnglishofIndustrialRobotChapterSevenTechnicalParameter工業(yè)機(jī)器人專業(yè)英語(yǔ)

EnglishofIndustria1Afterreadingthischapter,youwillbeableto:knowthetechnicalparameters.understandthedegreeoffreedom.indentifythedrivingmode.classifytheworkingspaceandworkingload.becapableofchoosingsuitablespecificationsofanindustrialrobot.answerthequestionsattheendofthechapter.ObjectivesAfterreadingthischapter,yo2Q:Whatisthat?Q:Whatisthat?3Howtomanifestthedifferencebetweenthhenumerousindustrialrobots?Theansweristhetechnicalparameters.Diverserobottechnicalparametersindicatevariouscharacteristics,correspondingtotheirspecificapplicationscopes.Industrialrobotisahigh-precisionmodernmechanicalequipmentwithnumeroustechnicalparameters.Fig.7-1presentsanexampleofatechningindustrialrobot.Industrialrobotmainlyincludesthefollowsingtechnicalparameters.TextHowtomanifestthedifference4TextThedegreeoffreedomThedegreeoffreedomcanbeexplainedbythenumberofaxesoftherobot.Themoreaxestherobothas,themoredegreesoffreedomitwillhave.Also,therobotwithmoreaxesownsgreatermovementflexibilityofthemechanicalstructure.Nevertheless,whenthedegreeoffreedomincreases,thestructureoftherobotarmbecomesmorecomplex,whichcausesanegativeinfluenceontherobotrigidity.Iftherearemoredegreesoffreedomontherobotarmthanitsrequirement,theobstacleavoidanceabilityfortherobotisprovidedbytheextradegreeoffreedom.Currently,thedegreesoffreedomareintherangeof3to6,andtheselectionofdegreeoffreedomdependsonthecomplexityandobstaclesofactualwork.TextThedegreeoffreedom5DrivingmodeDrivemodemainlyreferstothepowersourceformofthejointactuator,generallyincludeshydraulicdrive,pneumaticdrive,andelectricaldrive.Theaforementioneddirvemodeshaveindividualadvantagesandfeatures,whichhasacloserelationshipwiththeactualwork.Themostbeneficialpointofhydraulicdriveistheabilliltytooutputastrongdrivingforcewithasmalldriver.Forthepneumaticdrive,itownsgreatbufferingeffectandtheabilitytogetsteplessvariablespeed.Theadvantagesofelectricdrivearehighdriveefficiency,easytouse,andlowcost.Nowdays,electricdrivemodeiscommonlyused.TextDrivingmodeText6SpeedDuringtheoperation,workingspeedisdescribedbytherotationangleordistanceofthetoolcenterorthemechanicalinterfacecenterinunittimewhentherobotmovesataconstantspeedunderareasonableworkingload.Normally.Ahighermaximumspeedisthereasonofthehigherefficiency.Nevertheless,theaccelerationanddecelerationtakemoretimeoncetheworkingspeedishigher.Inanotherword,itcauseshighrequirementsforthemaximumrateofaccelerationormaximumrateofdecelerationoftheindustrialrobot.TextSpeedText7WorkspaceWorkspacereferstothemaximumrangeoftheoriginofend-effectorcoordinatesysteminspace,orthevolumeofspaceoccupiedbyallthepoints,whentherobotoperatorworksnormally.Thesizeofworkspacehasacloserelationshipwiththesizeofeachlinkoftherobotandtheoverallstructureoftherobot.Boththesizeandshapeoftheworkspaceareveryimportant,astherobotmaybeunabletocompletethetaskduetotheblindareawhichcannotbereachedbythehand.TextWorkspaceText8WorkingloadWorkingloadisanimportantparametnerfortheindustrialrobot.Duringtheperformanceofrobot,thereisamaximumloadwichtherobotwristcanbear.Itisgreatlyaffectedbythelaodmassandalsothespeedandaccelerationoftherobot.Inconsiderationofthesafetyissues,workingloadnotonlyreferstotheloadmass,butalsotothemassoftherobotend-effector.TextWorkingloadText9Workingaccuracy,repetitionaccuracyandresolutionTomakeasimpledefinition,theworkingaccuracyoftherobotreferstotheerrorgeneratedbyeachrobotpositioningaposition.Therepetitionaccuracyreferstothemeanvalueoftheerrorgeneratedbyrepeatedlypositioningaposition,whiletheresolutionreferstotheminimummovingdistanceorrotationanglethatcanbeachievedbyeachaxisoftherobot.Theaccuracyoftherobotiscontrolledbythesethreeparameterstogether.TextWorkingaccuracy,repetitiona10technical/'tekn?k(?)l/adj.工藝的，科技的；技術(shù)上的；專門的parameter/p?'r?m?t?/n.參數(shù)；系數(shù)；參量manifestation/,m?n?fe'ste??(?)n/n.表現(xiàn)；顯示；示威運(yùn)動(dòng)gap/g?p/n.間隙；缺口；差距；分歧vt.使形成缺口vi.裂開(kāi)characteristic/k?r?kt?'r?st?k/n.特征；特性；特色adj.典型的；表示特性的scope/sk??p/n.范圍；余地；視野；眼界；導(dǎo)彈射程vt.審視numerous/'nju?m(?)r?s/adj.許多的，很多的rigidity/r?'d??d?t?/n.[物]硬度，[力]剛性；嚴(yán)格，刻板；僵化；堅(jiān)硬Vocabularytechnical/'tekn?k(?)l/adj.11extra/'ekstr?/n.額外的事物adv.額外；特別地adj.額外的；特大的obstacle/'?bst?k(?)l/n.障礙，干擾，妨礙；障礙物avoidance/?'v??d?ns/n.避免，逃避；廢止drive/dra?v/v.開(kāi)車；推動(dòng)；驅(qū)趕；迫使，逼迫actuator/'?ktj?e?t?/n.[自]執(zhí)行機(jī)構(gòu)；激勵(lì)者；促動(dòng)器hydraulic/ha?'dr??l?k;ha?'dr?l?k/adj.液壓的；水力的；水力學(xué)的pneumatic/nju?'m?t?k/n.氣胎adj.氣動(dòng)的；充氣的；有氣胎的mode/m??d/n.模式；方式；風(fēng)格；時(shí)尚trajectory/tr?'d?ekt(?)r?;'tr?d??kt(?)r?/n.[物]軌道，軌線；[航][軍]彈道subdivide/s?bd?'va?d/vt.把……再分，把……細(xì)分vi.細(xì)分，再分Vocabularyextra/'ekstr?/n.額外的事物adv.12rotation/r?(?)'te??(?)n/n.旋轉(zhuǎn)；循環(huán)，輪流angle/'??g(?)l/v.斜移；謀取n.角，角度；視角；立場(chǎng)；角鐵distance/?d?st?ns/n.距離；遠(yuǎn)方；疏遠(yuǎn)；間隔vt.疏遠(yuǎn)；把…遠(yuǎn)遠(yuǎn)甩在后面interface/'?nt?fe?s/n.界面；<計(jì)>接口；交界面v.接合，連接；[計(jì)算機(jī)]使聯(lián)系constant/'k?nst(?)nt/n.[數(shù)]常數(shù)；恒量adj.不變的；恒定的；經(jīng)常的load/l??d/n.負(fù)載，負(fù)荷；工作量；裝載量vt.使擔(dān)負(fù)；裝填maximum/'m?ks?m?m/n.[數(shù)]極大，最大限度adj.最高的；最大極限的accelerate/?k?sel?re?t/vt.使……加快；使……增速vi.加速；促進(jìn)；增加decelerate/di?'sel?re?t/vt.使減速vi.減速，降低速度index/'?ndeks/n.指標(biāo)；指數(shù)；索引；指針vt.指出；編入索引中vi.做索引Vocabularyrotation/r?(?)'te??(?)n/n.13repetition/rep?'t??(?)n/n.重復(fù)；背誦；副本accuracy/'?kj?r?s?/n.[數(shù)]精確度，準(zhǔn)確性resolution/rez?'lu??(?)n/n.[物]分辨率；決議；解決；決心payload/'pe?l??d/n.有效載荷，有效負(fù)荷；收費(fèi)載重，酬載capacity/k?'p?s?t?/n.能力；容量；資格，地位；生產(chǎn)力mutually/?mju?t?u?li/adv.互相地；互助reinforce/ri??n'f??s/n.加強(qiáng)；加固材料vt.加強(qiáng)，加固；vi.求援；得到增援vertical/'v??t?k(?)l/n.垂直線，垂直位置adj.垂直的，直立的horizontal/h?r?'z?nt(?)l/n.水平線，水平面adj.水平的；地平線的extensibility/ik,stens?'bil?ti/n.展開(kāi)性；可延長(zhǎng)性Vocabularyrepetition/rep?'t??(?)n/n.14QuestionsQuestionsQuestion1:Listthemaindrivingmodesmentionedinthischapter?Question2:Whatdoestheworkingloadmean.Question3:Whatistheworkenvelope?AnswerQuestionsQuestionsQuestion1:15QuestionsQuestionsQuestion4:WhattypeofcoordinatesystemproducesateardropshapedworkQuestion5:Whatisthedifferencebetweenworkingaccuracyandrepetitionaccuracy?AnswerQuestionsQuestionsQuestion4:16Translation技術(shù)參數(shù)如何區(qū)分眾多不同的機(jī)器人？答案是技術(shù)參數(shù)。不同的機(jī)器人技術(shù)參數(shù)在特定的應(yīng)用范圍內(nèi)能夠反應(yīng)出機(jī)器人不同的特點(diǎn)。工業(yè)機(jī)器人是具有很多技術(shù)參數(shù)的高精密現(xiàn)代機(jī)械設(shè)備。圖7-1為一個(gè)教學(xué)型工業(yè)機(jī)器人實(shí)例。工業(yè)機(jī)器人主要包括以下七大技術(shù)參數(shù)。自由度自由度可以用機(jī)器人的軸數(shù)進(jìn)行解釋，機(jī)器人的軸數(shù)越多，自由度就越多，機(jī)械結(jié)構(gòu)運(yùn)動(dòng)的靈活性就越大，通用性強(qiáng)。但是自由度增多，使得機(jī)械臂結(jié)構(gòu)變得復(fù)雜，會(huì)降低機(jī)器人的剛性。當(dāng)機(jī)械臂上自由度多于完成工作所需要的自由度時(shí)，多余的自由度就可以為機(jī)器人提供一定的避障能力。目前大部分機(jī)器人都具有3~6個(gè)自由度，可以根據(jù)實(shí)際工作的復(fù)雜程度和障礙進(jìn)行選擇。

Translation技術(shù)參數(shù)17Translation驅(qū)動(dòng)方式驅(qū)動(dòng)方式主要指的是關(guān)節(jié)執(zhí)行器的動(dòng)力源形式，一般有液壓驅(qū)動(dòng)、氣壓驅(qū)動(dòng)、電氣驅(qū)動(dòng)，不同的驅(qū)動(dòng)方式有各自的優(yōu)勢(shì)和特點(diǎn)，可以根據(jù)實(shí)際工作的需求進(jìn)行選擇。液壓驅(qū)動(dòng)的主要優(yōu)點(diǎn)在于可以以較小的驅(qū)動(dòng)器輸出較大的驅(qū)動(dòng)力，缺點(diǎn)是油料容易泄露，污染環(huán)境；氣壓驅(qū)動(dòng)主要優(yōu)點(diǎn)是具有較好的緩沖作用，可以實(shí)現(xiàn)無(wú)級(jí)變速，缺點(diǎn)是噪聲大；電氣驅(qū)動(dòng)的優(yōu)點(diǎn)是驅(qū)動(dòng)效率高，使用方便，而且成本較低?，F(xiàn)在比較常用的是電氣驅(qū)動(dòng)的方式。

Translation驅(qū)動(dòng)方式18Translation控制方式機(jī)器人的控制方式也被稱為控制軸的方式，主要是用來(lái)控制機(jī)器人運(yùn)動(dòng)軌跡。一般來(lái)說(shuō)，控制方式有兩種：一種是伺服控制，另一種是非伺服控制。伺服控制方式有可以細(xì)分為連續(xù)軌跡控制類和點(diǎn)位控制類。與非伺服控制機(jī)器人相比，伺服控制機(jī)器人具有較大的記憶儲(chǔ)存空間，可以儲(chǔ)存較多點(diǎn)位地址，可以使運(yùn)行過(guò)程更加復(fù)雜平穩(wěn)。

Translation控制方式19Translation工作速度工作速度指的是機(jī)器人在合理的工作載荷之下，勻速運(yùn)動(dòng)的過(guò)程中，機(jī)械接口中心或者工具中心點(diǎn)在單位時(shí)間內(nèi)轉(zhuǎn)動(dòng)的角度或者移動(dòng)的距離。簡(jiǎn)單來(lái)說(shuō)，最大工作速度愈高，其工作效率就愈高。但是，工作速度就要花費(fèi)更多的時(shí)間加速或減速，或者對(duì)工業(yè)機(jī)器人的最大加速率或最大減速率的要求就更高。

Translation工作速度20Translation工作空間工作空間指的是機(jī)器人操作機(jī)正常工作時(shí)，末端執(zhí)行器坐標(biāo)系的原點(diǎn)能在空間活動(dòng)的最大范圍，或者說(shuō)該點(diǎn)可以到達(dá)所有點(diǎn)所占的空間體積。工作空間范圍的大小不僅與機(jī)器人各連桿的尺寸有關(guān)，而且與機(jī)器人的總體結(jié)構(gòu)形式有關(guān)。工作空間的形狀和大小是十分重要的，機(jī)器人在執(zhí)行某作業(yè)時(shí)可能會(huì)因存在手部不能到達(dá)的盲區(qū)而不能完成任務(wù)。

Translation工作空間21Translation工作載荷機(jī)器人在規(guī)定的性能范圍內(nèi)工作時(shí)，機(jī)器人腕部所能承受的最大負(fù)載量。工作載荷不僅取決于負(fù)載的質(zhì)量，而且與機(jī)器人運(yùn)行的速度和加速度的大小和方向有關(guān)。為保證安全，將工作載荷這一技術(shù)指標(biāo)確定為高速運(yùn)行時(shí)的承載能力。通常，工作載荷不僅指負(fù)載質(zhì)量，也包括機(jī)器人末端執(zhí)行器的質(zhì)量。

Translation工作載荷22Translation工作精度、重復(fù)精度和分辨率簡(jiǎn)單來(lái)說(shuō)機(jī)器人的工作精度是指每次機(jī)器人定位一個(gè)位置產(chǎn)生的誤差，重復(fù)精度是機(jī)器人反復(fù)定位一個(gè)位置產(chǎn)生誤差的均值，而分辨率則是指機(jī)器人的每個(gè)軸能夠?qū)崿F(xiàn)的最小的移動(dòng)距離或者最小的轉(zhuǎn)動(dòng)角度。這三個(gè)參數(shù)共同作用于機(jī)器人的工作精度。

Translation工作精度、重復(fù)精度和分辨率23ThankyouThankyou24工業(yè)機(jī)器人專業(yè)英語(yǔ)

EnglishofIndustrialRobotChapterSevenTechnicalParameter工業(yè)機(jī)器人專業(yè)英語(yǔ)

EnglishofIndustria25Afterreadingthischapter,youwillbeableto:knowthetechnicalparameters.understandthedegreeoffreedom.indentifythedrivingmode.classifytheworkingspaceandworkingload.becapableofchoosingsuitablespecificationsofanindustrialrobot.answerthequestionsattheendofthechapter.ObjectivesAfterreadingthischapter,yo26Q:Whatisthat?Q:Whatisthat?27Howtomanifestthedifferencebetweenthhenumerousindustrialrobots?Theansweristhetechnicalparameters.Diverserobottechnicalparametersindicatevariouscharacteristics,correspondingtotheirspecificapplicationscopes.Industrialrobotisahigh-precisionmodernmechanicalequipmentwithnumeroustechnicalparameters.Fig.7-1presentsanexampleofatechningindustrialrobot.Industrialrobotmainlyincludesthefollowsingtechnicalparameters.TextHowtomanifestthedifference28TextThedegreeoffreedomThedegreeoffreedomcanbeexplainedbythenumberofaxesoftherobot.Themoreaxestherobothas,themoredegreesoffreedomitwillhave.Also,therobotwithmoreaxesownsgreatermovementflexibilityofthemechanicalstructure.Nevertheless,whenthedegreeoffreedomincreases,thestructureoftherobotarmbecomesmorecomplex,whichcausesanegativeinfluenceontherobotrigidity.Iftherearemoredegreesoffreedomontherobotarmthanitsrequirement,theobstacleavoidanceabilityfortherobotisprovidedbytheextradegreeoffreedom.Currently,thedegreesoffreedomareintherangeof3to6,andtheselectionofdegreeoffreedomdependsonthecomplexityandobstaclesofactualwork.TextThedegreeoffreedom29DrivingmodeDrivemodemainlyreferstothepowersourceformofthejointactuator,generallyincludeshydraulicdrive,pneumaticdrive,andelectricaldrive.Theaforementioneddirvemodeshaveindividualadvantagesandfeatures,whichhasacloserelationshipwiththeactualwork.Themostbeneficialpointofhydraulicdriveistheabilliltytooutputastrongdrivingforcewithasmalldriver.Forthepneumaticdrive,itownsgreatbufferingeffectandtheabilitytogetsteplessvariablespeed.Theadvantagesofelectricdrivearehighdriveefficiency,easytouse,andlowcost.Nowdays,electricdrivemodeiscommonlyused.TextDrivingmodeText30SpeedDuringtheoperation,workingspeedisdescribedbytherotationangleordistanceofthetoolcenterorthemechanicalinterfacecenterinunittimewhentherobotmovesataconstantspeedunderareasonableworkingload.Normally.Ahighermaximumspeedisthereasonofthehigherefficiency.Nevertheless,theaccelerationanddecelerationtakemoretimeoncetheworkingspeedishigher.Inanotherword,itcauseshighrequirementsforthemaximumrateofaccelerationormaximumrateofdecelerationoftheindustrialrobot.TextSpeedText31WorkspaceWorkspacereferstothemaximumrangeoftheoriginofend-effectorcoordinatesysteminspace,orthevolumeofspaceoccupiedbyallthepoints,whentherobotoperatorworksnormally.Thesizeofworkspacehasacloserelationshipwiththesizeofeachlinkoftherobotandtheoverallstructureoftherobot.Boththesizeandshapeoftheworkspaceareveryimportant,astherobotmaybeunabletocompletethetaskduetotheblindareawhichcannotbereachedbythehand.TextWorkspaceText32WorkingloadWorkingloadisanimportantparametnerfortheindustrialrobot.Duringtheperformanceofrobot,thereisamaximumloadwichtherobotwristcanbear.Itisgreatlyaffectedbythelaodmassandalsothespeedandaccelerationoftherobot.Inconsiderationofthesafetyissues,workingloadnotonlyreferstotheloadmass,butalsotothemassoftherobotend-effector.TextWorkingloadText33Workingaccuracy,repetitionaccuracyandresolutionTomakeasimpledefinition,theworkingaccuracyoftherobotreferstotheerrorgeneratedbyeachrobotpositioningaposition.Therepetitionaccuracyreferstothemeanvalueoftheerrorgeneratedbyrepeatedlypositioningaposition,whiletheresolutionreferstotheminimummovingdistanceorrotationanglethatcanbeachievedbyeachaxisoftherobot.Theaccuracyoftherobotiscontrolledbythesethreeparameterstogether.TextWorkingaccuracy,repetitiona34technical/'tekn?k(?)l/adj.工藝的，科技的；技術(shù)上的；專門的parameter/p?'r?m?t?/n.參數(shù)；系數(shù)；參量manifestation/,m?n?fe'ste??(?)n/n.表現(xiàn)；顯示；示威運(yùn)動(dòng)gap/g?p/n.間隙；缺口；差距；分歧vt.使形成缺口vi.裂開(kāi)characteristic/k?r?kt?'r?st?k/n.特征；特性；特色adj.典型的；表示特性的scope/sk??p/n.范圍；余地；視野；眼界；導(dǎo)彈射程vt.審視numerous/'nju?m(?)r?s/adj.許多的，很多的rigidity/r?'d??d?t?/n.[物]硬度，[力]剛性；嚴(yán)格，刻板；僵化；堅(jiān)硬Vocabularytechnical/'tekn?k(?)l/adj.35extra/'ekstr?/n.額外的事物adv.額外；特別地adj.額外的；特大的obstacle/'?bst?k(?)l/n.障礙，干擾，妨礙；障礙物avoidance/?'v??d?ns/n.避免，逃避；廢止drive/dra?v/v.開(kāi)車；推動(dòng)；驅(qū)趕；迫使，逼迫actuator/'?ktj?e?t?/n.[自]執(zhí)行機(jī)構(gòu)；激勵(lì)者；促動(dòng)器hydraulic/ha?'dr??l?k;ha?'dr?l?k/adj.液壓的；水力的；水力學(xué)的pneumatic/nju?'m?t?k/n.氣胎adj.氣動(dòng)的；充氣的；有氣胎的mode/m??d/n.模式；方式；風(fēng)格；時(shí)尚trajectory/tr?'d?ekt(?)r?;'tr?d??kt(?)r?/n.[物]軌道，軌線；[航][軍]彈道subdivide/s?bd?'va?d/vt.把……再分，把……細(xì)分vi.細(xì)分，再分Vocabularyextra/'ekstr?/n.額外的事物adv.36rotation/r?(?)'te??(?)n/n.旋轉(zhuǎn)；循環(huán)，輪流angle/'??g(?)l/v.斜移；謀取n.角，角度；視角；立場(chǎng)；角鐵distance/?d?st?ns/n.距離；遠(yuǎn)方；疏遠(yuǎn)；間隔vt.疏遠(yuǎn)；把…遠(yuǎn)遠(yuǎn)甩在后面interface/'?nt?fe?s/n.界面；<計(jì)>接口；交界面v.接合，連接；[計(jì)算機(jī)]使聯(lián)系constant/'k?nst(?)nt/n.[數(shù)]常數(shù)；恒量adj.不變的；恒定的；經(jīng)常的load/l??d/n.負(fù)載，負(fù)荷；工作量；裝載量vt.使擔(dān)負(fù)；裝填maximum/'m?ks?m?m/n.[數(shù)]極大，最大限度adj.最高的；最大極限的accelerate/?k?sel?re?t/vt.使……加快；使……增速vi.加速；促進(jìn)；增加decelerate/di?'sel?re?t/vt.使減速vi.減速，降低速度index/'?ndeks/n.指標(biāo)；指數(shù)；索引；指針vt.指出；編入索引中vi.做索引Vocabularyrotation/r?(?)'te??(?)n/n.37repetition/rep?'t??(?)n/n.重復(fù)；背誦；副本accuracy/'?kj?r?s?/n.[數(shù)]精確度，準(zhǔn)確性resolution/rez?'lu??(?)n/n.[物]分辨率；決議；解決；決心payload/'pe?l??d/n.有效載荷，有效負(fù)荷；收費(fèi)載重，酬載capacity/k?'p?s?t?/n.能力；容量；資格，地位；生產(chǎn)力mutually/?mju?t?u?li/adv.互相地；互助reinforce/ri??n'f??s/n.加強(qiáng)；加固材料vt.加強(qiáng)，加固；vi.求援；得到增援vertical/'v??t?k(?)l/n.垂直線，垂直位置adj.垂直的，直立的horizontal/h?r?'z?nt(?)l/n.水平線，水平面adj.水平的；地平線的extensibility/ik,stens?'bil?ti/n.展開(kāi)性；可延長(zhǎng)性Vocabularyrepetition/rep?'t??(?)n/n.38QuestionsQuestionsQuestion1:Listthemaindrivingmodesmentionedinthischapter?Question2:Whatdoestheworkingloadmean.Question3:Whatistheworkenvelope?AnswerQuestionsQuestionsQuestion1:39QuestionsQuestionsQuestion4:Whattypeofcoordin