机器人学基础-第9章-机器人应用-蔡自兴

1、中南大学中南大学蔡自兴，谢蔡自兴，谢 斌斌zxcai, 2010机器人学基础机器人学基础第九章第九章 机器人应用机器人应用1Ch.9 Robot ApplicationsFundamentals of Robotics2Chapter 9 Robot Applications9.1 Factors Considered in Applying Industrial Robots 应用工业机器人考虑因素应用工业机器人考虑因素9.1.1 Evaluating Tasks for Robots 机器人的任务估计机器人的任务估计It is difficult to choose tasks for r

2、obots effectively without a thorough understanding of the applications of robot.When evaluating tasks, we should distinguish the undergoing tasks and those should be carried out by the robot.Using robots can provide a chance to improve the productivity significantly by changing process variables.Ch.

3、9 Robot Applications39.1.2 Three Key for Applying Robots 应用机器人三要素应用机器人三要素 Technical Bases （1）performance requirement （2）configuration requirement （3）product feature （4）equipment replacement （5）process change9.1 Factors Considered in Applying Industrial Robots4Economic Reasons the factors considered

4、in economic including:（1）labor（2）material （3）productivity（4）energy（5）equipment（6）cost9.1.2 Three Key for Applying Robots9.1 Factors Considered in Applying Industrial Robots5Human Factors（1）operator （2）administrator and department（3）maintainer and othersDate Recording provide a rough estimation of ob

5、served application projects.9.1.2 Three Key for Applying Robots9.1 Factors Considered in Applying Industrial Robots69.1.3 Thumb Rules for Applying Robots使用机器人的经验准则Estes (Vernon E. Estes) in 1979, made eight rules for the use of robots, known as Vernon rules, which are as follows:（1）Starting the robo

6、t plans from poor conditions（2）Considering the application of robots in the department with low productivity.（3）Evaluating long term needs.（4）Making working cost not to be proportional to the cost of robots. （5）Striving to simplicity and effectiveness. （6）Ensuring the safety of human and equipment（7

7、）Dont expecting sellers to provide full turnkey services.（8）Dont forgetting that robot needs human.9.1 Factors Considered in Applying Industrial Robots79.1.4 Steps for Applying Robots 采用机器人的步骤采用机器人的步骤 Steps for Applying Robots in production systems: （1）Considering all aspects and making sure the aut

8、omation requirements, such as improving productivity, increase outputs, reducing labor intensity, improving working conditions and so on.（2）Establishing robot plans, including determine automa-tion objectives, training technician, preparing the approximate schedule and so on. （3）Discuss the requirem

9、ents of applying robots. （4）Normalizing the assistant operation and the performance of the robots9.1 Factors Considered in Applying Industrial Robots89.1.4 Steps for Applying RobotsSteps for Applying Robots in production systems: （5）Designing the project of robotization operation system.（6）Choose su

10、itable evaluation criterion for robot system. （7）Detailed design and specific implementation.9.1 Factors Considered in Applying Industrial Robots99.1.4 Steps for Applying RobotsGeneral steps for robots to be used in production systemsFig. 9.1 Steps for Applying Robots9.1 Factors Considered in Applyi

11、ng Industrial Robots109.2 Application Areas of Robots 机器人的应用领域机器人的应用领域9.2.1 Robots for IndustryCompared with the traditional machine robot, it has two main advantages：Entirely automatization in production process It brings high quality production and well quality control, and improve the ability to

12、adapt the constantly changing user needs，so it will improve the product competitiveness in the market.Strong adaptability of production equipment The device also has the ability to adapt to failures9.2 Application Areas of Robots119.2.1 Robots for IndustryRobots for Industry mainly used in:（1）Automo

13、tive Industry （2）Machine building and electronics Industries (including Telecommunications Industry)（3）General Mechanical Industry （4）Architecture （5）Metal working （6）Foundry Industry（7）Others9.2 Application Areas of Robots12Robots for Industry classified as：（1）Materials Processing （2）Parts manufact

14、uring (including: forging, welding, broken up, and casting)（3）Product testing (including: explicit test, implicit test)（4）Product assembly (including: materials processing, on-line testing, spare parts supply, matching agents such as pressure and tightening processes)9.2.1 Robots for Industry9.2 App

15、lication Areas of Robots139.2.2 Robots for Exploration 探索机器人探索机器人Robots for Exploration（1）Autonomous Robot Autonomous robot can perform programming tasks in harsh environments. （2）Remote Control Robot The operator control the robot in a harsh environment to complete some task from relative long dist

16、ance away.9.2 Application Areas of Robots9.2.2 Robots for ExplorationTwo main types of robots for explorationUnderwater Robot According to movement modes:（1）Floating Underwater Robot （2）Walking Underwater Robot（3）Mobile Underwater Robot According to power supply modes:（1）Cable Underwater Robot （2）Wi

17、reless Underwater Robot 9.2 Application Areas of Robots14159.2.2 Robots for ExplorationSpace Robot The main task of space robots: （1）To explore as a pioneer in non-human living conditions such as the moon, Mars and others planets. （2）Instead of Astronauts to complete satellite service, the space sta

18、tion service and the experiment under space environment.9.2 Application Areas of Robots169.2.3 Robots for Service 服务机器人服务机器人Definition 1 Robot for service is a semi-autonomous or full-autonomous robot，which services for human health.Definition 2 Robot for service can be seen as a kind of free progra

19、mming mobile device, and it can partially or fully automatic complete services.9.2 Application Areas of Robots179.2.3 Robots for ServiceMedical robots applied to the following aspects:（1）Diagnosis Robot（2）Nursing Robot（3）Disability and Paralysis Rehabilitation Robot（4）Household Robot（5）Entertainment

20、 Robot（6）Medical and surgical robot9.2 Application Areas of Robots189.2.3 Robots for ServiceOther robots for service :Deliver Letters RobotsTour Guide RobotsAdd Oil RobotsConstruction RobotsAgriculture and Forestry Robots9.2 Application Areas of Robots199.2.4 Robots for Military 军事机器人军事机器人9.2 Applic

21、ation Areas of RobotsGround military robots intelligent robot, including independent and semi-autonomous vehiclesremote-controlled robot, namely, Various remote unmanned vehiclesAerial military robots Marine military robots 209.3 Application Examples of Industrial Robots 工业机器人应用举例工业机器人应用举例9.3.1 Robo

22、ts for Material Handling （材料搬运）CONSIGHT system developed by General Motors (GM) is a visual control system used for transporting and assembling of the parts. 9.3 Application Examples of Industrial RobotsFig 9.3 Hardware diagram of CONSIGHT system219.3.1 Robots for Material HandlingFunctions of CONSI

23、GHT system :Determining positions and directions of various mechanical parts (including complex curve objects).It is easy to compile programs on the system by inserting the new parts.Structure light subsystem, prevent need of high scene contrast.Processing image data effectively, which contains vide

24、o noise, in many typical environment of factory. 9.3 Application Examples of Industrial Robots229.3.1 Robots for Material HandlingFig 9.4 Operating procedure of CONSIGHT monitoring system 9.3 Application Examples of Industrial Robots239.3.2 Welding Robots 焊接机器人焊接机器人Welding robot has the largest appl

25、ications in industrial robot. Fig 9.5 Simplified hardware diagram of HRGH - control system 9.3 Application Examples of Industrial Robots249.3.2 Welding RobotsThe system is composed of two-level control system:First level based on microcomputer system. The first level chooses microcomputer IBM - PC/X

26、T, with the functions: management, fault diagnosis and machine language editing, compiler and etc. Second level based on single board computer system. Choosing TP - 86 single board computer as the second control circuit, realize servo position control for 5 joints. 9.3 Application Examples of Indust

27、rial Robots25Figure 9.6 Software flowchart of HRGH-II9.3.2 Welding Robots 9.3 Application Examples of Industrial Robots269.3.3 Painting Robots 喷漆机器人喷漆机器人PJ-I painting robotFig 9.8 Structure diagram of PJ-I control system 9.3 Application Examples of Industrial Robots279.3.3 Painting Robots Control software consists of two modules: Teaching moduleReplay module. Structure of these two module are similar. Teaching program consists of three tasks:Task A completes