机器人学导论-英文版

Huashan

FengSchoolofMechanicalEngineering,NPU.ShaanxiEngineering&TechnologyResearchCenterofSpecialDigitalManufacturingEquipment.Introductiontorobotics

ReferencesS.K.SAHA.IntroductiontoRobotics.ChinaMachinePressReferencesJohnJ.Craig贠超等译IntroductiontoRoboticsMechanicsandControl.机械工业出版社IntroductionRobotComponentsKinematicsDynamicsControlMotionPlanningSimulationOutlineIntroductionRobotComponentsKinematicsDynamicsControlMotionPlanningSimulationOutlineHistoryDefinitionRoboticsTypesofRobotsIntroductionHistoryWhatisarobot?HistoryTheideaofrobotgoesbacktoancienttimeofover3000yearsagointheworld.TheWesternZhouDynasty,ourcountry‘sskilledcraftsmanYan(偃师)developedtheactorwhocouldsinganddancewell,thiswastherobotwhichourcountryrecordedmostearly.HistoryTheideaofrobotgoesbacktoancienttimeofchina.TheSpringandAutumnPeriod,ourcountryhadarenownedcarpenterLuBan（鲁班）.Hewasalsoaninventorinthemechanicalaspect,accordingto“MoJing”（《墨经》）records.Oncehehadmadeawoodenbirdthatcouldintheaerialflight“onthreedays”,whichmanifestworkingpeople'sintelligentwisdominourcountry.

HistoryThe1800year‘sago,HanDynasty,greatscientistZhangHenghasnotonlyinventedtheseismograph（地动仪）butalsothecountdrumvehicle（计里鼓车）.Onthevehicle,thewoodenfigurinebeatsadrumeachmileandstrikesaclockeverytenmiles.

张衡计里鼓车Theideaofrobotgoesbacktoancienttimeofchina.HistoryEasternHanDynastyThreeKingdomera,ShuPrimeMinisterZhugeLiangcreatedaancienttransportvehiclecalled“woodencattleandwalkinghorse”successfully,andshippedthemilitaryprovisionstothewarfrontwithit.诸葛亮木牛流马Theideaofrobotgoesbacktoancienttimeofchina.HistoryTheideaofrobotgoesbacktoancienttimeintheworld.The2ndcenturyB.C.,theancientGreecepersoninAlexandertime‘shasinventedthemostprimitiverobot“automaton”.Bythepowerofthewater,theairandthesteampressure,thestatue（雕像）canmoveandevenopenthedooraswellassing.The1738year,FrenchtalenttechnicianJake·Wore·Wackhasinventedamachineduck.Itcanquackcalls,swimanddrinkwater,eveneatfoodanddrains.TheoriginalintentionofWackistoperformthebiologicalfunctionwiththemechanizationtocarryonthemedicineanalysis.

HistoryTheideaofrobotgoesbacktoancienttimeintheworld.LeonardodaVincicreatedmanyhuman-inspired,robot-likesketches,designs,andmodelsinthe1500’s.LeonardoHumanoidRobotwithInternalMechanismsHistoryJaquet-DrozAutomata(雅克-德罗机械人偶),1774TheWriter「作家」,TheDraughtsma​​n「画家」和TheMusician「音乐家」HistoryTheWriter

isthemostcomplexoneofthethreetoys.

70cm高蘸墨水写字眨眼点头书写3行40个字符（40个齿盘）瑞士纳沙泰尔美术与历史博物馆收藏ScienceFictionPlay

Rossum’sUniversalRobots(RUR)Theword“robot”wasintroducedtothepublicbyCzechwriterKarelCapekinhisplayR.U.R.(Rossum'sUniversalRobots),publishedin1920.Theplaybeginsinafactorythatmakesartificialpeoplecalledrobots.CapekwasreportedlyseveraltimesacandidatefortheNobelprizeforhisworks.TheCzechWriter

KarelCapek（1890－1938）1920RURrobotTheword“Robot”comesfromtheword“Robota”,meaning,inCzech,forcedlabour,drudgery.History捷克作家ScienceFiction

《I，Robot》USAWriter

IsaacAsimov(1920–1992)1950Theword“robotics”,usedtodescribethisfieldofstudy,wascoinedaccidentallybytheRussian–born,Americanscientistandsciencefictionwriter,IsaacAsimovin1940s.Asimovalsoproposedhisthree“LawsofRobotics”.HistoryLawZero:Arobotmaynotinjureahumanbeing,or,throughinaction,allowahumanbeingtocometoharm.LawOne:Arobotmustobeyordersgivenitbyhumanbeings,exceptwheresuchorderswouldconflictwithahigherorderlaw.LawTwo:Arobotmustprotectitsownexistenceaslongassuchprotectiondoesnotconflictwithahigherorderlaw.LawThree:Arobotmaytakeahumanbeing’sjobbutitmaynotleavethatpersonjobless.LAWSOFROBOTICSlateraddeda“fourthlaw”.1954－1961USAinventor

GeorgeC.Devol(L)andJosephF.Engleberger(R)

HistoryThefirstindustrialrobotswereUnimatedevelopedbyGeorgeDevolandJoeEngelbergerinthelate50’sandearly60’s.1962AmericanMachineandFoundry,laterknownasAMFCorporation,marketsafirstcylindricalrobot,calledthe“Versatran”.

ThePUMA(ProgrammableUniversalMachineforAssembly)robotisdevelopedbyUnimationwithaGeneralMotorsdesignsupport.1978History1973TheStanfordarmperformedsmall-partsassemblyusingfeedbackfromtouchandpressuresensors.Ithadmarketedaversionofthearmforindustrialapplications.Thenewarmwascontrolledbyaminicomputer.Thevariablesequencerobot

TeachingandplaybackrobotNumericalcontrolrobotFirstGenerationHistory试题TouchsensorsPressuresensorsVisionsensorsSonarsystemphotoelectriccell……1965，Beast+HistorySecondGenerationSensorsRobotThirdGeneration"Shakey"wasthefirstmobilerobotwithRobotvisionanddemonstratedattheStanfordResearchInstitute.

1968FirstbipedrobotWL-3designedbyProfessorIchiroKatoofWasedaUniversity,JAPAN.1969Understandingtheenvironmentand“thinking”.History认知智能CognitiveIntelligence计算智能ComputingIntelligence感知智能SensingIntelligence机器人技术不断突破WhatisaRobot…?VSWhatisaRobot…?机器人机器人技术关注的是与人进行合作的自主或半自主传感与执行系统。机器人技术研究强调的是能够使系统面对非结构化环境的智能与适应能力。自动化设备自动化技术强调的是效率、生产率、质量以及可靠性。自动化技术着眼于在一个结构化的环境中系统长时间的运行以及上述结构化环境的建构。——美国电子与电气研究所（R&A协会）Are-programmable,multifunctional,automaticindustrialmachinedesignedtoreplacehumaninhazardouswork.

RobotsarealsousedforthefollowingtasksDirtyTasksRepetitivetasksDangeroustasksImpossibletasksRobotsassistingthehandicappedCanoperateequipmentsatmuchhigherprecisionthanhumans.Cheaperonalongtermbasis.WhatisaRobot…?DefinitionAreprogrammable,multifunctionalmanipulator

designedtomovematerial,parts,toolsorspecializeddevicesthroughvariousprogrammedmotions

fortheperformanceofavarietyofTasks.InternationalStandardofOrganization.28Thereexistseveralotherdifinitionstoo,givenbyothersocieties,e.g.RIA,JIRA,BRA,andsoon.试题TraditionalRobotVersatility(通用性)---AnabilityforperformingdifferentfunctionsanddifferentworkDependsonthestructuralcharacteristicsandbearingcapacity

Themoregeneraldegreeoffreedom,theversatilityisstrong.

Adaptivity（适应性）---AnadjustmentabilityforthevariationalenvironmentSensingandmeasurementofenvironmentalchange

Taskanalysisandplanning

Fastinstructionexecution

DefinitionAlldefinitionshavetwopointsincommon.试题Roboticsisscienceofdesigningorbuildinganapplicationofrobots.Simply,Roboticsmaybedefinesas“TheStudyofRobots”.Theaimofroboticsistodesignanefficientrobot.

WHATISROBOTICS...?Roboticsisaninterdisciplinaryareaandacomprehensiveknowledgeofthreedisciplines.Motionsubsystem——MechanicalengineeringRecognitionsubsystem——ComputerscienceControlsubsystem——ElectricalengineeringDisciplines:mathematics,physics,biology,mechanicalengineering,electricalengineering,computerengineering,andcomputerscience.KnowledgebaseforRoboticsKinematics运动学Dynamics动力学MechanismsandActuation机构与执行器SensingandEstimation感知与估计MotionPlanning运动规划MotionControl运动控制ForceControl力控制RoboticSystemsArchitecturesandProgramming机器人系统的体系结构与编程AIReasoningMethodsforRobotics

机器人人工智能推理方法RoboticsTerminologyRobot-Thatismechanicaldevicethatperformshumantasks,eitherautomaticallyorbyremotecontrol.Robotics-Studyandapplicationofrobottechnology.Telerobotics-operatedremotelyRollingrobots-

Robots

havewheelstomovearound.Theycanquicklyandeasilysearch.Howevertheyareonlyusefulinflatareas.Walkingrobots-

Robotsonlegsareusuallybroughtinwhentheterrainisrocky.Mostrobotshaveatleast2legs;usuallytheyhave4ormore.Autonomousrobots–

Robotsareselfsupportingorinotherwordsselfcontained.Inawaytheyrelyontheirown“brains”.MobileRobots-Robotsthatmovearoundonlegs,tracksorwheels.IndustrialRobots-anautomaticallymanipulatorprogrammableinthreeormoreaxes.TypesofRobotsRobotsarebroadlyclassifiedasIndustrialrobotWeldingPaintingAssemblyMachinetoolloadingandunloading（码垛）Machining（加工）Inspection（检测）SpecialpurposerobotSurveillance（勘察）AgricultureNursingpurposes（护理）Medicalsurgery（手术）Military（国防军事）Security（公共安全）Machine-toolstounderseaSpaceexplorations试题TypesofRobotsIndustrialrobotRoboticmanipulator(arm)End-effectorAutomaticGuidedVehicles(AGVs)NationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotPeople'slivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobot（医疗康复）TypesofRobotsIndustrialrobotRoboticmanipulator(arm)End-effector

AutomaticGuidedVehicles(AGVs)NationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotPeople'slivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobotWeldingrobotsPaintingrobotsDesignedtoworkintirelessanddangerousenvironmentsIndustrialrobotAssemblyrobotsHighRepetitivepositioningaccuracyHighLoadcapacityHighmovementofefficiencyIndustrialrobotCartesianrobotforloadingandunloadingSerialrobotsTranslatorytypejoint(prismaticjoint,Piston-cylinderjoint)ManipulatorsIndustrialrobot试题TranslatorytypejointRotarytypejoint(revolutejoint,Hingejoint)SerialrobotsManipulatorsIndustrialrobotTranslatorytypejointRotarytypejointSerialrobotsManipulatorsIndustrialrobot6DOFrobotsRotarytypejointSerialrobotsManipulatorsIndustrialrobotSerialrobotsTranslatorytypejointRotarytypejointManipulatorsIndustrialrobotSCARArobotsSerialrobotsTranslatorytypejointRotarytypejointManipulatorsIndustrialrobotManipulatorsParallelrobotsCustomizationmanipulatorSpecialmanipulatorIndustrialrobot试题45Robotwithopticsandservo

Industrialrobot46DualarmorMultiarmcoordinationIndustrialrobot47EMG-orEEG-controlRemote-controlIndustrialrobotFixedbaseFloatbaseExpandingtheareaofworkandflexibleabilityMobilemanipulatorIndustrialrobot工业机械臂的主要技术参数Degreeoffreedom(DOF)自由度Accuracy精度Positioningaccuracy定位精度Repeatpositionaccuracy重复定位精度Workspace工作范围Maxspeedofoperation最大工作速度Loadingcapacity承载能力试题当前工业机械臂面临的问题提高移动工业机器人的定位精度提高视觉感知能力（vision）提高机械臂的载重比（Loadtoweightratio）结构轻量化（Light-weightdesign）采用液压驱动（Hydraulicdrive）提高工业机器人人-机协作的安全性提高运动控制的实时性提高运动力感知能力（Force）缺少感知系统Lackofperception缺乏灵巧性（灵巧操作）Lackofflexibility(dexterouswork)结构化工作环境Structureworkingenvironment固定工作流程Fixworkingprocedure机械臂类型自由度最大工作范围(mm)重量(kg)载荷(kg)载重比重复精度(mm)末端速度(m/s)柔顺性Barret710002540.16±0.103.00NoKRAgilus6R70067065060.12±0.032.00NoLWAPowerball670012.560.48±0.06NoLWAPA10793035100.286±0.101.55NoSIA5F75593050.167±0.06NoVS-6577G-B68543670.194±0.038.20NoLBRiiwa7R800780022.370.314±0.10YesUR5685018.450.272±0.101.00YesDLRLWRIII7936147(14)0.5(1)0.5NoATLAS7167573250(500)3.425(6.849)NoKUKAKR700PA4332028507000.246±0.08NoFANUCM-900iB/7006283228007000.25±0.3NoFANUCLRMate200iD67172570.28±0.02Noclosetotheapproximately

1:1ratioofhumanarmsatatipvelocityof6m/s

DLRLWRIIISchillingRoboticsATLAS7RManipulatorStructuretopologyoptimizationStructuretopologyoptimizationMeshofStructuralProblemforPrimaryArmOptimizationforPrimaryArmResultofOptimizationforPrimaryArmStructuretopologyoptimizationMeshofStructuralProblemforPrimaryArmRibsResultofOptimizationforPrimaryArmRibsStructuralProblemDefinitionforPrimaryArmRibsStructuretopologyoptimizationFinalShapeofPrimaryArmStructuretopologyoptimizationResultofOptimizationforSecondaryArmOptimizationforSecondaryArmMeshSecondaryArmStructuralProblemDefinitionforSecondaryArmStructuretopologyoptimizationFinalShapeofSecondaryArmTypesofRobotsIndustrialrobotRoboticmanipulator(arm)End-effector

AutomaticGuidedVehicles(AGVs)NationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotPeople'slivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobotMechanicalhandTwo-fingeredgripperMulti-fingeredhandSpecialisedtoolsEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotInrobotics,an

end-effector

isthedeviceattheendofa

robotic

arm,designedtointeractwiththeenvironment.End-effectorsmayconsistofagripperoratool.Thegrippercanbeoftwofingers,threefingersorevenfivefingers.试题End-effectorIndustrialrobotEnd-effectorIndustrialrobotMechanicalhandAnglegripperstrictrequirementsonthesizeMechanicalhandTwo-fingeredgripperEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMechanicalhandMechanicalhandTwo-fingeredgripperAngle-parallelgripperEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMechanicalhandMechanicalhandParallelgripperTwo-fingeredgripperEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMulti-fingeredhandEnd-effectorEnd-effectorIndustrialrobotMechanicalhandMechanicalhandMulti-fingeredhandEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotMulti-fingeredhandEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotNon-fingeredhandEnd-effectorEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotSpecialisedtoolsDebarringtoolGrindingwheelGas-cuttingtorchWeldingelectrodePaintbrushInflatabletoolElectromagneticadsorptiontoolVacuumgrip试题Loadingandunloadingwithvariousbulgy,floppy,dispersive,rough-and-tumble

materialsIndustrialrobotLoadingandunloadingwithvariousbulgy,floppy,dispersive,rough-and-tumblematerialsEnd-effectorToolChangersTheRoboticToolChangersincreaseflexibilityandproductivity.Itprovidestheflexibilitytoautomaticallychangeend-effectorsorotherperipheraltooling.Thesetoolchangersaredesignedtofunctionreliablyformillionsofcyclesatratedloadwhilemaintainingextremelyhighrepeatability.换枪盘End-effectorIndustrialrobotEnd-effectorIndustrialrobotToolChangersEnd-effectorIndustrialrobotEnd-effectorIndustrialrobotAnend-effectorwithtwomatingparts,aMaster-sideandaTool-sidethathavebeendesignedtolockorcoupletogetherautomatically,carryapayload,andhavetheabilitytopassutilitiessuchaselectricalsignals,pneumatic,water,etc.MostrobotcouplersusepneumaticstolocktheMaster-andTool-sidestogether.TheRobotToolChangerprovidestheflexibilityforanyautomatedprocesstochangetoolsandpassvariousutilities.TheMaster-sideoftheToolChangermountstoarobot,CNCmachine,orotherstructure.TheTool-sideoftheToolChangermountstotooling,suchasgrippers,welders,ordeburringtools.ARobotToolChangerisalsoknownasaQuick-Changedevice(QC),anautomatictoolchanger(ATC),robottoolchanger,robotcoupler,roboticcoupler,orroboticconnector.WhatisaRoboticToolChanger?

AttachmentQuickCouplerEnd-effectorIndustrialrobotEnd-effectorIndustrialrobot

AttachmentQuickCouplerEnd-effectorEnd-effectorIndustrialrobot

AttachmentQuickCouplerEnd-effectorIndustrialrobotEnd-effectorTypesofRobotsIndustrialrobotRoboticmanipulator(arm)End-effectorAutomaticGuidedVehicles(AGVs)NationaldefenseandpublicsafetyrobotAerospace、Undersea、TerrainrobotRescuerobotPeople'slivelihoodscienceandtechnologyrobotEducational,EntertainmentandDomesticrobotEmotionalrobotandRoboticpetMedicalrehabilitationrobotAGVs

formaterialhandlingIndustrialrobotWire-guidedAGVsAutonomousAGVsOmnidirectional

AGVsMecanumwheel2DOF3DOFAGVsIndustrialrobotAGVsMulti-AGVscooperation

IndustrialrobotAGVsIndustrialrobotMulti-AGVscooperation

OmnidirectionalmobilemanipulatorsIndustrialrobotOmnidirectionalmobilemanipulatorsIndustrialrobotWhatisthenextgenerationindustrialrobot?试题DefinitionThenextgenerationofrobotswillworkcloselywithhumanoperators:allowingnewabilityforfactoryworkers,healthcareproviders,soldiers,surgeonsandastronautstocarryoutkeyhard-to-dotasks.试题NewGenerationRobots机器人两大属性Twopropertiesofrobot机器属性‘machine’property人的属性‘Human’property传统机器人Traditionalrobots新一代机器人Newgenerationofrobots“机器”向“人”转变的转折点Turningpointfrom‘robot’to‘human’“软”时代到来‘Soft’timecoming试题NewGenerationRobots人机无法高效交流

Manandmachinecannotcommunicateeffectively缺乏本质安全性

Lackofintrinsicsafety在线感知能力远低于人

Onlineperceptionabilityisfarlowerthanpeople无法接受抽象命令

Unabletoreceiveabstractcommand操作灵活性无法与人配合

Operationflexibilitycannotmatchuppeople人机无法共融作业Humanandmachinecannotworkincommunion试题复杂环境技术Technologyincomplexenvironment共融作业技术Communionworktechnology任务与决策技术Taskanddecisiontechnology交互技术Interactiveability决策能力Decisionmakingability交互能力Interactiveability如何实现机器人对非人工环境的高效、精确感知和适应？Howtoachieveefficientandaccurateperceptionandadaptiveofrobotstononartificialenvironment?作业能力Operatingability如何建立人机和谐共存的行为方式与安全机制？Howtobuildaharmoniousco-existencebehaviorandsafetymechanismofhumanandmachine?如何实现复杂环境下完成复杂任务及智能决策？Howtoaccomplishcomplextasksandintelligentdecisionincomplexenvironment?如何实现机器人之间、机器人与人之间的自然交互？Howtorealizethenaturalinteractionbetweenrobots,robotsandhuman?NewGenerationRobots试题复杂环境技术Technologyincomplexenvironment如何实现机器人对非人工环境的高效、精确感知和适应？Howtoachieveefficientandaccurateperceptionandadaptiveofrobotstononartificialenvironment?NewGenerationRobots试题共融作业技术Communionworktechnology如何建立人机和谐共存的行为方式与安全机制？Howtobuildaharmoniousco-existencebehaviorandsafetymechanismofhumanandmachine?NewGenerationRobots试题任务与决策技术Taskanddecisiontechnology如何实现复杂环境下完成复杂任务及智能决策？Howtoaccomplishcomplextasksandintelligentdecisionincomplexenvironment?NewGenerationRobots试题交互技术Interactiveability如何实现机器人之间、机器人与人之间的自然交互？Howtorealizethenaturalinteractionbetweenrobots,robotsandhuman?NewGenerationRobotsIndustrialrobotRobot

20世纪人类最伟大的技术发明之一制造业皇冠上的明珠世界各大国、强国竞相发展的战略技术将改变制造模式、战争模式和生活模式IndustrialrobotIndustrialrobotIndustrialrobotIntroductionRobotComponentsKinematicsDynamicsControlMotionPlanningSimulationOutlineArobotsystemgenerallyconsistsofthreesubsystem.AmotionsubsystemThephysicalstructureofrobotthatcarriesoutadesiredmotion.ArecognitionsubsystemUsesvarioussensorstogatherinformationabouttherobotitselfandanyobjectsbeingactedupon,andtheenvironment.AcontrolsubsystemInfluencestherobot’smotiontoachieveagiventaskusingtheinformationprovidedbytherecognitionsubsystem.RobotComponents试题MainControllerJointControllerControlsystemActuatorsEffectorsInternalSensorsExternalSensorsSensorsEnvironmentUserInterfaceExternalEquipmentTherobotcontrolloopThinkSenseActOutputinformationofvisualwheels,legsorarmstracksSpeech,Vision,Distance,TouchForce,Acceleration,Temperature,PositionTaskplanning,Learn,Processdata,MotionplanningPower

ConversionUnitRobotComponents试题RobotComponentsActuatorsPneumaticactuatorsHydraulicactuatorsElectricactuators试题RobotComponentsActuatorsPneumaticactuators试题RobotComponentsActuatorsPneumaticactuatorsAdvantagesItisthecheapestformofallactuators.Componentsarereadilyavailableandcompressedairnormallyisanalreadyexistingfacilityinfactories.Compressedaircanbestoredandconveyedeasilyoverlongdistances.Compressedairclean,explosion-proofandinsensitivetotemperaturefluctuations,thuslendingitselftomanyapplications.Theyhavefewmovingpartsmakingtheminherentlyreliableandreducingmaintenancecosts.Sincepneumaticsystemarecommonthroughouttheindustry,thereforerelevantpersonnelareoftenveryfamiliarwiththetechnology.Theyhaveaveryquickactionandresponsetime,thusallowingforfastworkcycles.NomechanicaltransmissionisusuallyrequiredPneumaticscanbeintrinsicallysafeinexplosiveareasasnoelectricalcontrolisrequired.Alsoinwetconditionsthereisnodangerofelectrocution.Thesystemsareusuallycompact.Controlissimple.Individualcomponentscanbeeasilyinterconnected.DisadvantagesSinceairiscompressible,precisecontrolofspeedandpositionisnoteasilyobtainableunlessmuchmorecomplexelectromechanicaldevicesareincorporatedintothesystem.Thismeansthatonlyalimitedsequence,operatingatafixedspeedisoftenavailable.Ifmechanicalstopsareused,resettingthesystemcanbeslow.Pneumaticsarenotsuitableformovingheavyloadsunderprecisecontrolduetothecompressibilityofair.Thiscompressibilitynecessitatestheapplicationofmoreforcethanwouldnormallybenecessarytoensurethattheactuatorisfirmlyinpositionagainstitsstopunderloadconditions.Ifmoisturepenetratestheunitsandferrousmetalshavebeenused,thendamagetoindividualcomponentscanresult.试题Softrobots软体机器人RobotComponentsPneumaticactuatorsRobotComponentsActuatorsHydraulicactuatorsSchillingRoboticsATLAS7RManipulatorTITAN4HydraulicRotaryActuator

HydraulicLinearActuatorServoValve

ControllerRobotComponentsActuatorsHydraulicactuatorsAdvantagesHighefficiencyandhighpower-to-sizeratio.Completeandaccuratecontroloverspeed,position,anddirectionofactuatorsarepossible.Fewbacklashproblemsoccurduetothestiffnessandincompressibilityofthefluidespecially,whentheactuatoractsasthejointitself.Theygenerallyhaveagreaterloadcarryingcapacitythanelectricandpneumaticactuators.Nomechanicallinkageisrequired,i.e.adirectdriveisobtainedwithmechanicalsimplicity.Self-lubricatingandnon-corrosive.Duetothepresenceofanaccumulator,whichactsasa‘storage’device,thesystemcanmeetsuddendemandsinpower.Hydraulicrobotaremorecapableofwithstandingshockloadsthanelectricrobots.DisadvantagesLeakagescanoccurcausingalossinperformance,andgeneralcontaminationoftheworkarea.Thepowerpackcanbenoisy,typicallyabout70decibelordBAorlouderifnotprotectedbyanacousticmuffler.Changesintemperaturealtertheviscosityofthehydraulicfluid.Atlowtemperaturefluidviscositywillincreasepossiblycausingsluggishmovementoftherobot.Forsmallerrobot,hydraulicpowerisusuallynotfeasibleeconomicallyasthecostofhydrauliccomponentsdonotdecreaseinproportiontosize.Servo-controlofhydraulicsystemiscomplexandisnotaswidelyunderstoodaselectricservo-control.试题RobotComponentsActuatorsElectricactuatorsStepperMotorsDCMotorsACMotorsAdvantagesWidespreadavailabilityofpowersupply.Thebasicdriveelementinanelectricmotorisusuallylighterthanthatforfluidpower.Highpowerconversionefficiency.NopollutionofworkingenvironmentTheaccuracyandrepeatabilityofelectricpowerdrivenrobotsarenormallybetterthanfluidpowerrobotsinrelationtocost.Beingrelativelyquietandclean,theyareveryacceptableenvironmentallyTheyareeasilymaintainedandrepaired.Structuralcomponentscanbelightweight.Thedrivesystemiswellsuitedtoelectroniccontrol.DisadvantagesElectricallydrivenrobotsoftenrequiretheincorporationofsomesortofmechanicaltransmissionsystem.Thisaddsmassandunwantedmovementwhichnecessitatesadditionalpower,andmanycomplicatecontrol.Duetotheincreasedcomplexityofthetransmissionsystem,additionalcostisincurredfortheirprocurementandmaintenance.Electricmotorarenotintrinsicallysafe.Theycannotthereforebeusedinforexample,explosiveatmospheres.试题RobotComponentsActuatorsElectricactuatorsStepperMotors是一种数/模转换装置，被广泛应用于开环控制的伺服系统中。RobotComponentsActuatorsElectricactuatorsStepperMotorsDirection：如果按A-B-C-A-…连续向各相绕组供电，则步进电动机将按逆时针方向连续旋转。反之如果按A-C-B-A-…供电，步进电动机将按顺时针方向旋转。velocity：如果改变绕组的通断电频率，则可以改变步进电动机的转速。Stepangle(步距角)：每通断电一次，步进电动机转过d的角度。RobotComponents通电方式影响负载能力通电方式k影响步距角K=1，单或双相K=2，单双轮流m相（Phase）步进电动机可采用单相通电、双相通电或单双相轮流通电方式工作，对应的通电方式可分别称为m相单m拍、m相双m拍或m相2m拍通电方式。A-C-B-A-…三相单三拍通电方式AB-BC-CA-AB-…三相双三拍通电方式A-AB-B-BC-C-CA-A-…三相六拍通电方式

步距误差:空载时实测步距角与理论步距角之差,反映步进电机角位移的精度。最大静转矩:步进电机在某相始终通电而处于静止不动状态时，所能承受的最大外加转矩，即所能输出的最大电磁转矩，反映步进电机的制动能力和低速步进运行时的负载能力。RobotComponents启动矩频特性:步进电机在有外加负载转矩时，不失步地正常启动所能接受的最大阶跃输入脉冲频率(启动频率)与负载转矩的对应关系。

启动惯频特性:步进电机带动纯惯性负载启动时，启动频率与转动惯量之间的关系。负载转动惯量越大，所允许的最大启动频率越低。RobotComponents运行矩频特性:步进电机运行时，输出转矩与输入脉冲频率的关系。应使实际应用的运行频率与负载转矩所对应的运行工作点位于运行矩频特性之下，才能保证步进电动机不失步地正常运行。

RobotComponentsRobotComponentsActuatorsElectricactuatorsStepperMotors脉冲分配控制：控制电机定子各相绕阻通电的顺序硬件脉冲分配器（分散器件组成、专用集成芯片）软件脉冲分配器RobotComponentsActuatorsElectricactuatorsStepperMotorsRobotComponentsActuatorsElectricactuatorsDCMotors电流方向决定旋转方向；电流大小决定旋转速度RobotComponentsActuatorsElectricactuatorsDCMotorsDirectdrivemotorsystemRobotComponentsActuatorsElectricactuatorsDCMotors

有刷DC电机

无刷（Brushless）DC电机RobotComponentsActuatorsElectricactuatorsDCMotorsRobotComponentsActuatorsElectricactuatorsDCMotors硬软硬硬软硬软硬机电时间常数电磁时间常数静态放大系数理想空载角速度负载转矩负载转矩变化RobotComponentsActuatorsElectricactuatorsDCMotorsRobotComponentsActuatorsElectricactuatorsDCMotors直流伺服电动机的控制与驱动脉冲宽度调制（PWM）晶体管功率放大器AmplifierRobotComponentsActuatorsElectricactuatorsDCMo