翻译---美国机器人产业50年发展及现状

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6、ndservo amplifier used for the mechanical hand have become out of date.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 Secondlythe control system is out of date, and it is very complicate and maintain.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.机械手(臂旋转动作驱动控制系统1.20 世纪40 年代后期,美国在原子能实验中,首先采用机械手搬运放射性材料人在安全室操纵机械手进行各种操作和实验。50 年代以后,机械手逐步推广到工业生产部门,用于在高温污染严重的地方取放工件和装卸材料,也作为机床的辅助装置在自动机床自动生产线和加工中心中应用,完成上下料或从刀库中取放刀具并按固定程序更换刀具等操作。机械手主要由手部机构和运动机构组成。手部机构随使用场合和操作对象而不同,常见的有夹持托持和吸附等类型

22、。运动机构一般由液压、气动、电气装置驱动。机械手可独立地实现伸缩旋转和升降等运动。本文研究的是上轴承生产线内圆磨床所使用的机械手,它的主要工作是对上轴承进行搬运,由入口到夹盘,再由夹盘到出口。上轴承也是三洋压缩机内部的重要部件。由于原有的内圆磨床所采用的机械手是几十年前的产品,因此有很多地方已经不能适应现在的生产要求,比如说机械手所使用伺服电机和伺服放大器已经被淘汰,备件很难购买,一旦故障就很难修理。其次就是控制系统已经过时,操作维护都显得很烦琐等等。本文就根据这种情况,对机械手的整个控制系统(包括伺服电机,伺服放大器等进行了研究与设计。对伺服放大器的性能、功能进行了研究并加以设计,并对伺服电

23、机选型,并在实际工作中得到了应用达成了节约成本,提高效率的目的。2.机器人技术的发展,机器人应用领域的不断扩大,对机器人的性能提出了更高的要求。作为机器人的核心部分,机器人控制器系统结构一直是机器人学中的热点。它在一定程度上影响着机器人的发展。针对传统结构封闭式机器人控制器的缺陷,开发“具有开放式结构的模块化、开放式、标准化的机器人控制器”是当前机器人控制器的一个发展方向。本论文阐述在CINCINNATI 六自由度机器人本体的基础上建立开放式、模块化的先进机器人控制平台,采用先进机器人的控制理论与方法,可实现多机器人协调与控制的发展。论文首先确定建立CINCINNATI 机器人开放式控制系统的方案,并分别对PMAC可编程多轴控制器、研华的工控机、日本松下的伺服电机及伺服驱动器的功能和硬件组成进行了分析,从而得出CINCINNATI 机器人控制系统的硬件平台总体结构。其次,采用模块化的设计思想,将机器人的硬件系统分为供电单元、监控单元、驱动单元、电机单元、主控单元五大模块。分别阐述各