工業(yè)機器人專業(yè)英語教學課件Chapter-7

工業(yè)機器人專業(yè)英語

EnglishofIndustrialRobotChapterSevenTechnicalParameter工業(yè)機器人專業(yè)英語

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；技術上的；專門的parameter/p?'r?m?t?/n.參數；系數；參量manifestation/,m?n?fe'ste??(?)n/n.表現；顯示；示威運動gap/g?p/n.間隙；缺口；差距；分歧vt.使形成缺口vi.裂開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；嚴格，刻板；僵化；堅硬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.開車；推動；驅趕；迫使，逼迫actuator/'?ktj?e?t?/n.[自]執(zhí)行機構；激勵者；促動器hydraulic/ha?'dr??l?k;ha?'dr?l?k/adj.液壓的；水力的；水力學的pneumatic/nju?'m?t?k/n.氣胎adj.氣動的；充氣的；有氣胎的mode/m??d/n.模式；方式；風格；時尚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……細分vi.細分，再分Vocabularyextra/'ekstr?/n.額外的事物adv.12rotation/r?(?)'te??(?)n/n.旋轉；循環(huán)，輪流angle/'??g(?)l/v.斜移；謀取n.角，角度；視角；立場；角鐵distance/?d?st?ns/n.距離；遠方；疏遠；間隔vt.疏遠；把…遠遠甩在后面interface/'?nt?fe?s/n.界面；<計>接口；交界面v.接合，連接；[計算機]使聯系constant/'k?nst(?)nt/n.[數]常數；恒量adj.不變的；恒定的；經常的load/l??d/n.負載，負荷；工作量；裝載量vt.使擔負；裝填maximum/'m?ks?m?m/n.[數]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；增加decelerate/di?'sel?re?t/vt.使減速vi.減速，降低速度index/'?ndeks/n.指標；指數；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；背誦；副本accuracy/'?kj?r?s?/n.[數]精確度，準確性resolution/rez?'lu??(?)n/n.[物]分辨率；決議；解決；決心payload/'pe?l??d/n.有效載荷，有效負荷；收費載重，酬載capacity/k?'p?s?t?/n.能力；容量；資格，地位；生產力mutually/?mju?t?u?li/adv.互相地；互助reinforce/ri??n'f??s/n.加強；加固材料vt.加強，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.展開性；可延長性Vocabularyrepetition/rep?'t??(?)n/n.14QuestionsQuestionsQuestion1:Listthemaindrivingmodesmentionedinthischapter?Question2:Whatdoestheworkingloadmean.Question3:Whatistheworkenvelope?AnswerQuestionsQuestionsQuestion1:15QuestionsQuestionsQuestion4:WhattypeofcoordinatesystemproducesateardropshapedworkQuestion5:Whatisthedifferencebetweenworkingaccuracyandrepetitionaccuracy?AnswerQuestionsQuestionsQuestion4:16Translation技術參數如何區(qū)分眾多不同的機器人？答案是技術參數。不同的機器人技術參數在特定的應用范圍內能夠反應出機器人不同的特點。工業(yè)機器人是具有很多技術參數的高精密現代機械設備。圖7-1為一個教學型工業(yè)機器人實例。工業(yè)機器人主要包括以下七大技術參數。自由度自由度可以用機器人的軸數進行解釋，機器人的軸數越多，自由度就越多，機械結構運動的靈活性就越大，通用性強。但是自由度增多，使得機械臂結構變得復雜，會降低機器人的剛性。當機械臂上自由度多于完成工作所需要的自由度時，多余的自由度就可以為機器人提供一定的避障能力。目前大部分機器人都具有3~6個自由度，可以根據實際工作的復雜程度和障礙進行選擇。

Translation技術參數17Translation驅動方式驅動方式主要指的是關節(jié)執(zhí)行器的動力源形式，一般有液壓驅動、氣壓驅動、電氣驅動，不同的驅動方式有各自的優(yōu)勢和特點，可以根據實際工作的需求進行選擇。液壓驅動的主要優(yōu)點在于可以以較小的驅動器輸出較大的驅動力，缺點是油料容易泄露，污染環(huán)境；氣壓驅動主要優(yōu)點是具有較好的緩沖作用，可以實現無級變速，缺點是噪聲大；電氣驅動的優(yōu)點是驅動效率高，使用方便，而且成本較低?，F在比較常用的是電氣驅動的方式。

Translation驅動方式18Translation控制方式機器人的控制方式也被稱為控制軸的方式，主要是用來控制機器人運動軌跡。一般來說，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分為連續(xù)軌跡控制類和點位控制類。與非伺服控制機器人相比，伺服控制機器人具有較大的記憶儲存空間，可以儲存較多點位地址，可以使運行過程更加復雜平穩(wěn)。

Translation控制方式19Translation工作速度工作速度指的是機器人在合理的工作載荷之下，勻速運動的過程中，機械接口中心或者工具中心點在單位時間內轉動的角度或者移動的距離。簡單來說，最大工作速度愈高，其工作效率就愈高。但是，工作速度就要花費更多的時間加速或減速，或者對工業(yè)機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器人操作機正常工作時，末端執(zhí)行器坐標系的原點能在空間活動的最大范圍，或者說該點可以到達所有點所占的空間體積。工作空間范圍的大小不僅與機器人各連桿的尺寸有關，而且與機器人的總體結構形式有關。工作空間的形狀和大小是十分重要的，機器人在執(zhí)行某作業(yè)時可能會因存在手部不能到達的盲區(qū)而不能完成任務。

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

Translation工作載荷22Translation工作精度、重復精度和分辨率簡單來說機器人的工作精度是指每次機器人定位一個位置產生的誤差，重復精度是機器人反復定位一個位置產生誤差的均值，而分辨率則是指機器人的每個軸能夠實現的最小的移動距離或者最小的轉動角度。這三個參數共同作用于機器人的工作精度。

Translation工作精度、重復精度和分辨率23ThankyouThankyou24工業(yè)機器人專業(yè)英語

EnglishofIndustrialRobotChapterSevenTechnicalParameter工業(yè)機器人專業(yè)英語

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；技術上的；專門的parameter/p?'r?m?t?/n.參數；系數；參量manifestation/,m?n?fe'ste??(?)n/n.表現；顯示；示威運動gap/g?p/n.間隙；缺口；差距；分歧vt.使形成缺口vi.裂開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；嚴格，刻板；僵化；堅硬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.開車；推動；驅趕；迫使，逼迫actuator/'?ktj?e?t?/n.[自]執(zhí)行機構；激勵者；促動器hydraulic/ha?'dr??l?k;ha?'dr?l?k/adj.液壓的；水力的；水力學的pneumatic/nju?'m?t?k/n.氣胎adj.氣動的；充氣的；有氣胎的mode/m??d/n.模式；方式；風格；時尚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……細分vi.細分，再分Vocabularyextra/'ekstr?/n.額外的事物adv.36rotation/r?(?)'te??(?)n/n.旋轉；循環(huán)，輪流angle/'??g(?)l/v.斜移；謀取n.角，角度；視角；立場；角鐵distance/?d?st?ns/n.距離；遠方；疏遠；間隔vt.疏遠；把…遠遠甩在后面interface/'?nt?fe?s/n.界面；<計>接口；交界面v.接合，連接；[計算機]使聯系constant/'k?nst(?)nt/n.[數]常數；恒量adj.不變的；恒定的；經常的load/l??d/n.負載，負荷；工作量；裝載量vt.使擔負；裝填maximum/'m?ks?m?m/n.[數]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；增加decelerate/di?'sel?re?t/vt.使減速vi.減速，降低速度index/'?ndeks/n.指標；指數；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；背誦；副本accuracy/'?kj?r?s?/n.[數]精確度，準確性resolution/rez?'lu??(?)n/n.[物]分辨率；決議；解決；決心payload/'pe?l??d/n.有效載荷，有效負荷；收費載重，酬載capacity/k?'p?s?t?/n.能力；容量；資格，地位；生產力mutually/?mju?t?u?li/adv.互相地；互助reinforce/ri??n'f??s/n.加強；加固材料vt.加強，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.展開性；可延長性Vocabularyrepetition/rep?'t??(?)n/n.38QuestionsQuestionsQuestion1:Listthemaindrivingmodesmentionedinthischapter?Question2:Whatdoestheworkingloadmean.Question3:Whatistheworkenvelope?AnswerQuestionsQuestionsQuestion1:39QuestionsQuestionsQuestion4:Whattypeofcoordin