工业机器人专业英语 课件 -Unit 2 Robot kinematics and characteristics

ProfessionalEnglishofIndustrialRobots工业机器人专业英语Unit2RobotkinematicsandcharacteristicsLesson’sactivity1.WhatwillIlearninthischapter？

Todemonstratethatyou:1)Understandthebasicconceptsofrobotkinematics.2)Understandthedegreeoffreedomofrobot.3)Understandthestructuralcharacteristicsofindustrialrobots.

FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

Withintheallocatedguidedlearninghours,youmustsuccessfullycompletePracticalAssessmentinwhichyouwilldemonstratethatyoucan:Thefirstpartisthewordsofrobotkinematics.ThenthesecondpartistheapplicationofbasicEnglishsentencerelatedtorobotkinematicsinthemajor,lastly,thethirdpartistheintroductiontokinematicsprincipleofindustrialrobots.Completetherobotkinematicstasksafterclass.

FORLISTENINGLesson’sactivityABB(AseaBrownBoveriLtd.)艾波比集团公司，瑞士YaskawaElectricCoLtd.安川，日本KawasakiHeavyIndustriesLtd.川崎重工业有限公司，日本workpiece

[ˈwɜːkpiːs]n.工件；轧件；工件壁厚payload

[ˈpeɪləʊd]n.（导弹、火箭等的）有效载荷，有效负荷overload

[ˌəʊvəˈləʊd]v.过载，超载axis

[ˈæksɪs]n.轴，轴线；对称中心线，对称轴motion

[ˈməʊʃn]n.运动，移动；v.做动作motion

[ˈməʊʃn]n.运动，移动；v.做动作wrist

[rɪst]n.手腕，腕关节

FORLISTENING2.1CorrespondingwordsrelatedtothekinematicsofrobotsLesson’sactivitybend[bend]v.使弯曲；使屈服transmission[trænzˈmɪʃ(ə)n]n.传动装置component

[kəmˈpəʊnənt]n.部件，组成部分regulation[ˌreɡjuˈleɪʃn]n.规章制度，规则invert

[ɪnˈvɜːt]

v.使倒置，使反转coordinate[kəʊˈɔːdɪneɪt]

v.协调，配合maximum[ˈmæksɪməm]n.最大量，最大限度；adj.最高的，最大的

FORLISTENING2.1CorrespondingwordsrelatedtothekinematicsofrobotsFocusReading1.Withthedevelopmentofproductiveforces,itwillcertainlypromotethedevelopmentofcorrespondingscienceandtechnology.

FORLISTENING2.2Sentencesrelatedtorobotkinematics2.Thisisespeciallycriticalwhencreatingaprogrambymovingtothetargetlocation.

。

。FocusReading3.Atool,typicallyagripperofsomesort,isattachedtotheendoftherobottointeractwiththeenvironment.FORLISTENING2.2Sentencesrelatedtorobotkinematics

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4.Iftherighttool,workpiece,orpayloadisnotselected,overloaderrorsand/orpositioningerrorsarelikelytooccurwhentheprogramismicromanagedorrunduringproduction.

。FocusReading5.Thekinematicsofarobotmanipulatordescribestherelationshipbetweenthemotionofthejointsofthemanipulatorandtheresultingmotionoftherigidbodieswhichformtherobot.FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading6.Therevolute,prismatic,andhelicaljointseachcorrespondtoscrewmotions,withthehelicaljointcorrespondingtoageneralscrewwithfinite,nonzeropitch.FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading

7.Acylindricaljointhastwoindependentdegreesoffreedomandistypicallyconstructedbycombiningarevoluteandaprismaticjointsuchthattheiraxesarecoincident.

FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading8.Revoluteandprismaticjointsarebyfarthemostcommontypeofjointencounteredinrobotics，asisshowninFig.2-1.

Fig.2-1NumberingconventionsforanAdeptOnerobot.FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading9.Sphericalmechanismsareoftenusedaswristsinrobotmanipulatorstoallowarbitraryorientationofthegripperortoolattheendoftherobot.

FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading10.Planarjointsallowforarbitrarytranslationandrotationintheplane.

FORLISTENING

。11.Alongwithhelicaljoints,theyaretheleastcommonlyusedofthelowerpairmechanisms.

。2.2SentencesrelatedtorobotkinematicsFocusReadingWhatisthekinematicsprincipleofindustrialrobots？

1.Kinematicsofindustrialrobots,asanimportantresearchfieldofrobotics,hasaprofoundimpactonrobotcontrol,robotdynamicsandtrajectoryplanning,andisdirectlyrelatedtorobotcontrol,trajectoryplanningandoff-lineprogrammingaccuracy,whichisthebasisofresearchonrobotdynamics,trajectoryplanningandmotionsimulation.

FORLISTENING3.2Part3Kinematicsprincipleofindustrialrobots

。FocusReading2.Thecommonlyusedrobotkinematicsmethodsaremainlyanalyticalandnumericalmethods,includingvectoralgebra,geometry,matrix.Forexample,thematrixmethodrequirestheestablishmentofthecorrespondingcoordinatesystemoneachjoint,andtheforwardkinematicsmodelisestablishedbymeansofcoordinatetransformation.Intheinversekinematics,theinversetransformationalgorithmisusuallyadopted,andthesolutionprocessiscomplex.

FORLISTENING

。3.2Part3Kinematicsprincipleofindustrialrobots

FocusReading3.Theforwardkinematicsofarobotdeterminestheconfigurationoftheend-effector(thegripperortoolmountedontheendoftherobot)giventherelativeconfigurationsofeachpairofadjacentlinksoftherobot.Inthissection,werestrictourselvestoopen-chainmanipulatorsinwhichthelinksformasingleserialchainandeachpairoflinksisconnectedeitherbyarevolutejointoraprismatic(sliding)joint.

FORLISTENING

。3.2Part3Kinematicsprincipleofindustrialrobots

FocusReading4.UnderwaterInthelastdecade,severalremotely-operatedvehicleshavebeenbuiltforinspectionofunderwateroilderricksandexploration.Theirdevelopmenthasbeenmotivatedbythehighcostofhumandiversandtherisktolifeofworkingunderwater.Forthemostparttheyconsistofamobileplatform,eitheronanumbilicallinefromthemothershiporcompletelyautonomous,fittedwithoneormoreroboticarms.FORLISTENING3.2Par