-
Industrial Robotics
工业机器人
Most robots
today can trace their origin to early industrial
robot designs.
Much
of
the
technol-ogy
that
makes robots
more
human-friendly
and
adaptable for different
applications has emerged from manufacturers of
industrial
robots.
Indus-trial
robots
are
by
far
the
largest
commercial
application of
robotics technology today. All the important
foundations
for robot control were ini-
tially developed with industrial applications in
mind.
These
applications
deserve
special
atten-tion
in
order
to
understand
the
origin
of
robotics
science
and
to
appreciate
many
unsolved
prob-lems
that
still
prevent
the
wider
use
of
robots
in
manufacturing.
In
this
chapter
we
present
a
brief
history
and
descriptions
of
typical
indus-trial
robotics
applications.
We
show
how
robots with different mechanisms fit
different applica-tions. Even though
robots are well established in large-
scale manufacturing, particularly in
auto-mobile
and
related
component
assembly,
there
are
still
many
challenging problems to solve. The
range of feasible applications could
signifi-cantly
increase
if
robots
were
easier
to
install,
to
integrate
with
other
manufacturing
processes,
and
to
program,particularly
with
adaptive
sensing
and
automatic
error
recovery.
We
outline
some
of
these remaining challenges for
researchers.
今天大多数的机器人的起源可以追溯到早期工业机器人的设
计。
大部
分从制造工业机器人出现的技术,
使得机器人呢更加人性化和适应不
同的应用。工业机器人是当今机器人技术目前为止
的最大商业化应
用。
所有为了机器人控制的重要基础被
ini-tially
重点开发和工业应用。
这
些应用中值得特别注意的是,
在理解起源科学和欣赏许多悬而未决
的问题上仍然阻碍着机器人制造的广泛使用。
在这一章中我们提出一
< br>个简短的历史和典型的工业机器人应用的说明。
我们展
示机器人如何与不同的机制适应不同的应用。
虽然机器人在大
型
制造业上的建立,
特别是汽车及相关零件组装,
仍然有许多挑战
需
要解决的问题。范围的可行的应用能显著增加如果机器人是易于安
装,以便与其他制造工艺,和程序,
特别是与自适应检测和自动错误
恢复的,
广泛的可行性应用可以增加。
我们为研究人员
外线一些剩余
的挑战。
Industrial
robots
are
considered
as
a
cornerstone
of
com-petitive
manufacturing,
which
aims
to
combine
high
productivity,
quality,and
adaptability
at
minimal
cost.
In
2007
more
than
one
million
industrial
robot
instal-lations
were
reported,
with
automotive
industries
as
the
predominant users with a share of more
than 60% .However,high-growth
industries
(in
life
sciences,elec-
tronics,solar
cells,
food,and
logistics)
and
emerging
manufacturing
processes
(gluing,coating,
laser-based
processes,precision assembly etc.) will
increasingly de-pend on advanced
robot
industries’
share
of
the
number
of
robot
installations has
been growing steadily.
工业机器人
被认为是一个基石,
经济生产,
其目的是以最低的成本结
合高生产力,质量,和适应性。在
2007
一
百万以上的工业机器人报
告,以汽车工业为主要用户的有
60%
以上的份额。
然而,
机器人技术
在高增长行业(在生命科学,
elec-tronics
,太阳能电池,食物,和物
流)和新兴的制造过程(胶,涂层,激光加工,装
配精度等)将越来
越先进。这些机器人装置的产业份额数量一直稳步增长。
The
production
of
industrial
robots
on
the
one
hand,and
the
planning,integration,
and
operation
of
robot
workcells
on
the
other
hand,
are
largely
independent
en-
gineering
tasks.
In
order
to
be
produced in sufficiently
large quantities, a robot design should meet the
require-
ments
for
the
widest
set
of
potential
applications.
As
this
is
difficult
to achieve in practice, various classes of robot
designs regarding
payload
capacity,number
of
robot
axes,
and
workspace
volume
have
emerged
for
applica-
tion
categories
such
as
assembly,
palletizing,
painting,
welding, machining, and general handling tasks.
p>
一方面,工业机器人的生产规划,整合,另一方面,操作机器人基本
上是独立的工程任务。
为产生足够大的数量,
一个机器人的设计
应满
足需要利用最广泛的潜在应用。
这是在实践中难以实现,<
/p>
各类机器人
设计有关的有效载荷能力,
多
轴机器人的工作空间体积,
并出现了应
用等类等组件,码垛,油
漆,焊接,加工,和一般的处理任务。
Generally,
a
robot
workcell
consists
of
one
or
more
robots
with
controllers
and
robot
peripherals:
grippers
or
tools,
safety
devices,
sensors,
and
material
transfer
components
for
moving
and
presenting
parts. Typically,
the cost of a complete robot workcell is four
times the
cost of the robots alone.
一般来说,
一个机器人工作单元由一个或多个机器人控制器和机器人<
/p>
外设:去皮或工具,安全装置,
传感器,和材料的传热元件移动并
提
出部分。
通常,
一个完整的机器人作
业单元的成本是机器人单独成本
的四倍。
A robot workcell is usually the result
of customized planning,integration,
programming,and
configuration,requiring
significant
engineering
expertise.
Standard-ized
engineering
methods,tools,and
best-
practice
examples
have
become
available
to
reduce
costs
and
provide
more
predictable performance .
机器
人工作单元通常是需要定制计划,整合,规划,配置,以及大量
的工程方面的专业知识。
规范的工程方法,
工具,
和最佳实践的例子
已成为可降低成本,提供更多的可预测性能的选择。
Today’s
industrial
ro
bots
are
mainly
the
result
of
the
requirements
of
capital-intensive
large-
volume
manufacturing,mainly
defined
by
the
automotive,electronics, and electrical
goods industrial
robots
will not be a mere extrapolation of
today’s designs with
respect to
features
and
performance
data,
but
will
rather
follow
new
design
principles addressing a wider range of
application areas and
the
same
time,
new
technologies,
particularly
from
the
information
technology
(IT)
world,
will
have
an
increasing
impact
on
the
design,
performance, and cost of future
industrial robots.
今天的工业机器人主要是资本密集型的大规模
制造,主要包括汽车,
电子,
电器行业的要求结果。
如今设计方面的特点和性能数据显示未
来的工业机器人将不是一个单纯的推
断,
但将遵循新的设计原则,
解
决更广
泛的应用领域和产业问题。
同时,
未来机器人的性能和成本在<
/p>
设计上将会有越来越的影响,尤其是新技术在信息技术(
IT
p>
)的世界
里。
International
and
national
standards
now
help
to
quantify
robot
performance
and
define
safety
precau
tions,
geometry,
and
media
robots operate behind
secure barriers to keep people at
a
safe
ly,improved
safety standards
have
allowed
direct
human
–
robot
collaboration,
permitting
robots
and
human
factory
workers to share the
same workspace.
如今国内外在机器人性能和定义安全钻具,
几何和媒介接口上进行标
准化规范。
大多数的机
器人操作都要和背后的人保持安全距离。
最近,
改进安全标准允
许人类直接机器人与人类合作,
允许工人共享相同的
工作。
p>
We will first present a
historical introduction to industrial robotics
with a
selection of contemporary
application examples,then the basic principles
that
are
used
in
industrial
robotics
and
a
review
of
programming
methods will be
will also discuss tools (end-effectors) and
system
integration
chapter
will
be
closed
with
the
presentation
of
selected,unsolved
problems
that
currently
inhibit
the
wider application of
industrial robots.
首先,
我们将会选用
一个当代应用的例子来提出一个历史介绍工业机
器人,
然后将提
出用于工业机器人的基本原则和审查程序的方法。
我
们还将讨论
工具
(效应)和系统集成的要求。本章将结束与介绍选定
的抑制
目前广泛应用的工业机器人尚未解决的问题。
A Short
History of Industrial Robots
一个工业机器人的简短历史
The
invention of the industrial robot dates back to
1954 when George
Devol filed a patent
on a programmed article teaming up
with
Joseph
Engelberger,
the
first
robot
company,
Unimation,
was
founded and put the
first robot into service at a General Motors plant
in
1961
for
extracting
parts
from
a
die-
casting
of
the
hydraulically
actuated
Unimates
were
sold
through
the
following years
for
workpiece
handling
and
for
spot-
welding
of
car
applications
were
successful,which
means
that
the
robots
worked
reliably
and
ensured
uniform
,many
other
companies
dent
working
in
the
Stanford
Artificial
Intelligence
Laboratory
(SAIL)
.The
six-degree-of-freedom
(6-DOF) all-electric manipulator was controlled by
a
standard
computer,a
Digital
Equipment
non-
anthropomorphic
kinematic
configuration
with
one
prismatic
and
five rotational joints was configured
such that the equations for solving
the
robot
kinematics
were
simple
enough
to
speed
up
consisted
of
direct-current
(DC)
electric
motors,harmonic
drive
and
spur
gear
reducers,
potentiometers
and
tachometers
for
position
and
velocity
uent
robot
designs were strongly
influenced by Sc
heinman’s concepts
.
工业机器人的发明可追溯到
195
4
年,当乔治·德沃尔提起专利程序
上的文章转移时。
后联手与约瑟恩格尔贝格创立了第一个机器人公司
unimation<
/p>
,并在
1961
年在通用汽车厂提取从压
铸机配件中将第一个
机器人投入服务。大多数的液压驱动
uni
mates
出售是经过数年以上
的工件搬运和点焊汽车体。
p>
应用程序都是成功的,
这意味着机器人运
行
可靠,
保证质量一致。很快,其他许多公司在斯坦福大学人工智能
实验室(
SAIL
)做实验。六自由度(
6
)电动机械手是由一个标准的
计算机,数字设备
pdp-6
控制的。该
non-anthrop
omorphic
运动配置
与一个棱镜和五个旋转关节配置,<
/p>
方程是为了足够简单的快速计算求
解机器人运动学。
驱动器包括直流(
DC
)
电
机,
谐波传动、圆柱齿轮
减速器,
电位
器和转速的位置和速度反馈。
随后机器人设计受到沙因
曼概念的
强烈影响。
In
1973,
the
company
ASEA
(now
ABB)
introduced
the
first
microcomputer-
controlled
all-electric
industrial
robot,
the
IRB-6, which
allowed
continuous
path
motion,
a
precondition
for
arc-welding
or
machining . The design proved to be
very robust and robot lifetimes of
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