机器⼈外⽂⽂献翻译、中英⽂翻译
外⽂资料
robot
The industrial robot is a tool that is used in the manufacturing environment to increase productivity. It can be used to do routine and tedious assembly line jobs，or it can perform jobs that might be hazardous to the human worker . For example ，one of the first industrial robot was used to replace the nuclear fuel rods in nuclear power plants. A human doing this job might be exposed to harmful amounts of radiation. The industrial robot can also operate on the assembly line，putting together small components，such as placing electronic components on a printed circuit board. Thus，the human worker can be relieved of the routine operation of this tedious task. Robots can also be programmed to defuse bombs，to serve the handicapped，and to perform functions in numerous applications in our society.
The robot can be thought of as a machine that will move an end-of-tool ，sensor ，and/or gripper to a preprogrammed location. When the robot arrives at this location，it will perform some sort of task .This task could be
welding，sealing，machine loading ，machine unloading，or a host of assembly jobs. Generally，this work can be accomplished without the involvement of a human being，except for programming and for turning the system on and off. The basic terminology of robotic systems is introduced in the following:
1. A robot is a reprogrammable ，multifunctional manipulator designed to move parts，material，tool，or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions，presented in the following paragraphs，that give acomplete picture of a robotic system.
2. Preprogrammed locations are paths that the robot must follow to accomplish work，At some of these locations，the robot will stop and perform some operation ，such as assembly of parts，spray painting ，or welding .These preprogrammed locations are stored in the robot’s memory and are recalled later for continuous
operation.Furthermore，these preprogrammed locations，as well as other program data，can be changed later as the work requirements change.Thus，with regard to this programming feature，an industrial robot is very much like a computer
，
where data can be stoned and later recalled and edited.
3. The manipulator is the arm of the robot .It allows the robot to bend，reach，and twist.This movement is provided by the manipulator’s axes，also called the degrees of freedom of the robot .A robot can have from 3 to 16 axes.The term degrees of freedom will always relate to the number of axes found on a robot.
4. The tooling and frippers are not part the robotic system itself;rather，they are attachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts，spot-weld ，paint，arc-weld，drill，deburr，and do a variety of tasks，depending on what is required of the robot.
5. The robotic system can control the work cell of the operating robot.The work cell of the robot is the total environment in which the robot must perform its
task.Included within this cell may be the controller ，the robot manipulator ，a work table ，safety features，or a conveyor.All the equipment that is required in order for the robot to do its job is included in the work cell .In addition，signals from outside devices can communicate with the robot to tell the robot when it should parts，pick up parts，or unload parts to a conveyor.
The robotic system has three basic components: the manipulator，the controller，and the power source.
A.Manipulator
The manipulator ，which does the physical work of the robotic system，consists of two sections:the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached.Fig.1 illustrates the connection
of the base and the appendage of a robot.
图1.Basic components of a robot’s manipulator
The base of the manipulator is usually fixed to the floor of the work area. Sometimes，though，the base may be movable. In this case，the base is attached to either a rail or a track，allowing the manipulator to be moved from one location to anther.
As mentioned previously ，the appendage extends from the base of the robot. The appendage is the
arm of the robot. It can be either a straight ，movable arm or a jointed arm. The jointed arm is also known as an articulated arm.
The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base ，which，in turn，is secured to a mounting. This mounting ensures that the manipulator will in one location.
At the end of the arm ，a wrist（see Fig 2）is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.
图2.Elements of a work cell from the top
The manipulator’s axes allow it to perform work within a certain area. The area is called the work cell of the robot ，and its size corresponds to the size of the manipulator.（Fid2）illustrates the work cell of a typical assembly ro bot.As the robot’s physical size increases，the size of the work cell must also increase.
The movement of the manipulator is controlled by actuator，or drive systems.The actuator，or drive systems，allows the various axes to move within the work cell. The drive system can use electric，hydraulic，or pneumatic power.The energy developed by the drive system is converted to mechanical power by various mechanical power systems.The drive systems are coupled through mechanical linkages.These linkages，in turn，drive the different axes of the robot.The mechanical linkages may be composed of chain，gear，and ball screws.
B.Controller
The controller in the robotic system is the heart of the operation .The controller stores preprogrammed information for later recall，controls peripheral devices，and communicates with computers within the plant for constant updates in production. The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hard-held teach pendant.This information is stored in the memory of the controller for later recall.The controller stores all program data for the robotic system.It can store several different
programs，and any of these programs can be edited.
The controller is also required to communicate with peripheral equipment within the work cell. For example，the controller has an input line that identifies when a machining operation is completed.When the machine cycle is completed，the input line turn on telling the controller to position the manipulator so that it can pick up the finished part.Then ，a new part is picked up by the manipulator and placed into the machine.Next，the controller signals the machine to start operation.
The controller can be made from mechanically operated drums that step through a sequence of events.This type of controller operates with a very simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art eletronoics.That is，they are microprocessor-operated.these microprocessors are either 8-bit，16-bit，or 32-bit processors.this power allows the controller to be very flexible in its operation.
The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between the robot manipulator and the controller maintains a constant update of the end the operation of the system.The controller also controls any tooling placed on the end of the robot’s wrist.
The controller also has the job of communicating with the different plant computers. The communicati
on link establishes the robot as part a computer-assisted manufacturing （CAM）system.
As the basic definition stated，the robot is a reprogrammable，multifunctional manipulator.Therefore，the controller must contain some of memory stage. The microprocessor-based systems operates in conjunction with solid-state devices.These memory devices may be magnetic bubbles，random-access memory，floppy disks，or magnetic tape.Each memory storage device stores program information fir or for editing.C.power supply
The power supply is the unit that supplies power to the controller and the manipulator. The type of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power is
used for driving the various axes of the manipulator. For example，if the robot manipulator is controlled by hydraulic or pneumatic drives，control signals are sent to these devices causing motion of the robot.
For each robotic system，power is required to operate the manipulator .This power can be developed from either a hydraulic power source，a pneumatic power source，or an electric power source.There power sources are part of the total components of the robotic work cell.
中⽂翻译
机器⼈
⼯业机器⼈是在⽣产环境中⽤以提⾼⽣产效率的⼯具，它能做常规乏味的装配线⼯作，或能做那些对于⼯⼈来说是危险的⼯作，例如，第⼀代⼯业机器⼈是⽤来在核电站中更换核燃料棒，如果⼈去做这项⼯作，将会遭受有害放射线的辐射。⼯业机器⼈亦能⼯作在装配线上将⼩元件装配到⼀起，如将电⼦元件安装在电路印刷板，这样，⼯⼈就能从这项乏味的常规⼯作中解放出来。机器⼈也能按程序要求⽤来拆除，辅助残疾⼈，在社会的很多应⽤场合下履⾏职能。
机器⼈可以认为是将⼿臂末端的⼯具、传感器和（或）⼿⽖移到程序指定位置的⼀种机器。当机器⼈到达位置后，他将执⾏某种任务。这些任务可以是焊接、密封、机器装料、拆卸以及装配⼯作。除了编程以及系统的开停之外，⼀般来说这些⼯作可以在⽆⼈⼲预下完成。
如下叙述的是机器⼈系统基本术语：
机器⼈是⼀个可编程、多功能的机器⼿，通过给要完成的不同任务编制各种动作，它可以移动零件、材料、⼯具以及特殊装置。这个基本定义引导出后续段落的其他定义，从⽽描绘出⼀个完整的机器⼈系统。
预编程位置点是机器⼈为完成⼯作⽽必须跟踪的轨迹。在某些位置点上机器⼈将停下来做某写操作，如装配零件、喷涂油漆或焊接。这些预编程点贮存在机器⼈的贮存器中，并为后续的连续操作所调⽤，⽽且这些预编程点像其他程序数据⼀样，可在⽇后随⼯作需要⽽变化。因⽽，正是这种可编程的特征，⼀个⼯业机器⼈很像⼀台计算机，数据可在这⾥储存、后续调⽤与编辑。
机械⼿上机器⼈的⼿臂，它使机器⼈能弯曲、延伸、和旋转，提供这些运动的是机器⼿的轴，亦是所谓的机器⼈的⾃由度。⼀个机器⼈能有3—16轴，⾃由度⼀词总是与机器⼈轴数相关。
⼯具和⼿⽖不是机器⼈⾃⾝组成部分，但它们安装在机器⼈⼿臂末端的附件。这些连在机器⼈⼿臂末端的附件可使机器⼈抬起⼯件、点焊、刷漆、电弧焊、钻孔、打⽑刺以及根据机器⼈的要求去做各种各样的⼯作。
机器⼈系统还可以控制机器⼈的⼯作单元，⼯作单元是机器⼈执⾏任务所处
英文翻译中文翻译的整体环境，该单元包括控制器、机械⼿、⼯作平台、安全保护装置或者传输装置。所有这些为保证机器⼈完成⾃⼰任务⽽必需的装置都包括在这⼀⼯作单元中。另外，来⾃外设的信号与机器⼈通讯，通知机器⼈何时装配⼯件、取⼯件或放⼯件到传输装置上。
机器⼈系统有三个基本部件：机械⼿、控制器和动⼒源。
A.机械⼿
机械⼿做机器⼈系统中粗重⼯作，它包括两个部分：机构和附件，机械⼿也有联接附件基座，图1表⽰了⼀机器⼈基座与附件之间的联接情况。
机械⼿基座通常在⼯作区域的地基上，有时基座也可以移动，在这种情况下基座安装在导轨或轨道上，允许机械⼿从⼀个位置移动到另外⼀个位置。
正如前⾯所提到的那样，附件从机器⼈基座上延伸出来，附件就是机器⼈的⼿臂，它可以是直接型，也可以是轴节型⼿臂，轴节型⼿臂也是⼤家所知的关节型⼿臂。
机械臂使机械⼿产⽣各轴的运动。这些轴连在⼀个安装基座上，然后再连到托架上，托架确保机械⼿停留在某⼀位置。
在⼿臂的末端上，连接着⼿腕（图1），⼿腕由辅助轴和⼿腕凸缘组成，⼿腕是让机器⼈⽤户在⼿腕凸缘上安装不同⼯具来做不同种⼯作。
机械⼿的轴使机械⼿在某⼀区域内执⾏任务，我们将这个区域为机器⼈的⼯作单元，该区域的⼤⼩与机器⼿的尺⼨相对应，（图2）列举了⼀个典型装配机器⼈的⼯作单元。随着机器⼈机械结构尺⼨的增加。⼯作单元的范围也必须相应增加。机械⼿的运动由执⾏元件或驱动系统来控制。执⾏元件或驱动
系统允许个轴在⼯作单元内运动。驱动系统可⽤电⽓、液压和⽓压动⼒，驱动系统所产⽣的动⼒经机构转变为机械能，驱动系统与机械传动链相匹配。有链、齿轮和滚珠丝杠组成的机械传动链驱动着机器⼈的各轴。
B.控制器
机器⼈控制器是⼯作单元的核⼼。控制器储存着预编程序供调⽤、控制外设，及与⼚内计算进⾏通讯以满⾜产品经常更新的需要。
控制器⽤于控制机器⼿运动和在⼯作单元内控制机器⼈外设。⽤户可通过⼿持的⽰教盒将机械⼿运动的程序编⼊控制器。这些信息储存在控制器的存储器中
以备后续调⽤，控制器储存了机器⼈系统的所有编程数据，它能储存⼏个不同的程序，并且所有这些程序均能编辑。
控制器要求能够在⼯作单元内外设进⾏通信。例如控制器有⼀个输⼊端，它能标识某个机加⼯操作何时完成。当该加⼯循环完成后，输⼊端接通，告诉控制器定位机械⼿以便能抓取已加⼯⼯件，随后，机械⼿抓取⼀未加⼯件，将其放置在机床上。接着，控制器给机床发出开始加⼯的信号。
控制器可以由根据事件顺序⽽步进的机械式轮⿎组成，这种类型的控制器可⽤在⾮常简单的机械系统
中。⽤于⼤多数⼈系统中的控制器代表现代电⼦学的⽔平，是更复杂的装置，即它们是由微处理器操纵的。这些微处理器可以是8位，16位或32位处理器。它们可以使得控制器在操纵⼯程中显⾮常柔性。
控制器能通过通信线发送信号，使它能与机械⼿各轴交流信息，在机器⼈的机械⼿和控制器之间的双向交流信息可以保持操作和位置经常更新，控制器亦能控制安装在机器⼈⼿腕上的任何⼯具。
控制器也有与⼚内各计算机进⾏通信的任务，这种通信联系使机器⼈成为计算机辅助制造（ CAM）系统的⼀个组成部分。
存储器。基于微处理器的系统运⾏时要与固态的存储装置相连，这些存储装置可以是磁泡，随机存储器、软盘、磁带等。每种记忆存储装置均能贮存、编辑信息以备后续调⽤和编辑。
C.动⼒源
动⼒源是给机器⼈和机器⼿提供动⼒的单元。传给机器⼈系统的动⼒源有两种，⼀种是⽤于控制器的交流电，另⼀种是⽤于驱动机械⼿各轴的动⼒源，例如，如果机器⼈的机械⼿是有液压和⽓动驱动的，控制信号便传送到这些装置中，驱动机器⼈运动。
对于每⼀个机器⼈系统，动⼒是⽤来操纵机械⼿的。这些动⼒可来源与液压动⼒源、⽓压动⼒源或电
源，这些能源是机器⼈⼯作单元整体的⼀部分。

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