機(jī)器人學(xué)基礎(chǔ)_第9章_機(jī)器人應(yīng)用_蔡自興

1、中南大學(xué)中南大學(xué)蔡自興蔡自興 謝謝 斌斌zxcai, 2010機(jī)器人學(xué)基礎(chǔ)機(jī)器人學(xué)基礎(chǔ)第九章第九章 機(jī)器人應(yīng)用機(jī)器人應(yīng)用1Ch.9 Robot ApplicationsFundamentals of Robotics2Chapter 9 Robot Applications9.1 Factors Considered in Applying Industrial Robots 應(yīng)用工業(yè)機(jī)器人考慮因素應(yīng)用工業(yè)機(jī)器人考慮因素9.1.1 Evaluating Tasks for Robots 機(jī)器人的任務(wù)估計(jì)機(jī)器人的任務(wù)估計(jì)It is difficult to choose tasks for ro

2、bots effectively without a thorough understanding of the applications of robot.When evaluating tasks, we should distinguish the undergoing tasks and those should be carried out by the robot.Using robots can provide a chance to improve the productivity significantly by changing process variables.Ch.9

3、 Robot Applications39.1.2 Three Key for Applying Robots 應(yīng)用機(jī)器人三要素應(yīng)用機(jī)器人三要素 Technical Bases （1）performance requirement （2）configuration requirement （3）product feature （4）equipment replacement （5）process change9.1 Factors Considered in Applying Industrial Robots4Economic Reasons the factors considered i

4、n economic including:（1）labor（2）material （3）productivity（4）energy（5）equipment（6）cost9.1.2 Three Key for Applying Robots9.1 Factors Considered in Applying Industrial Robots5Human Factors（1）operator （2）administrator and department（3）maintainer and othersDate Recording provide a rough estimation of obs

5、erved application projects.9.1.2 Three Key for Applying Robots9.1 Factors Considered in Applying Industrial Robots69.1.3 Thumb Rules for Applying Robots使用機(jī)器人的經(jīng)驗(yàn)準(zhǔn)則Estes (Vernon E. Estes) in 1979, made eight rules for the use of robots, known as Vernon rules, which are as follows:（1）Starting the robot

6、 plans from poor conditions（2）Considering the application of robots in the department with low productivity.（3）Evaluating long term needs.（4）Making working cost not to be proportional to the cost of robots. （5）Striving to simplicity and effectiveness. （6）Ensuring the safety of human and equipment（7）

7、Dont expecting sellers to provide full turnkey services.（8）Dont forgetting that robot needs human.9.1 Factors Considered in Applying Industrial Robots79.1.4 Steps for Applying Robots 采用機(jī)器人的步驟采用機(jī)器人的步驟 Steps for Applying Robots in production systems: （1）Considering all aspects and making sure the auto

8、mation requirements, such as improving productivity, increase outputs, reducing labor intensity, improving working conditions and so on.（2）Establishing robot plans, including determine automa-tion objectives, training technician, preparing the approximate schedule and so on. （3）Discuss the requireme

9、nts of applying robots. （4）Normalizing the assistant operation and the performance of the robots9.1 Factors Considered in Applying Industrial Robots89.1.4 Steps for Applying RobotsSteps for Applying Robots in production systems: （5）Designing the project of robotization operation system.（6）Choose sui

10、table evaluation criterion for robot system. （7）Detailed design and specific implementation.9.1 Factors Considered in Applying Industrial Robots99.1.4 Steps for Applying RobotsGeneral steps for robots to be used in production systemsFig. 9.1 Steps for Applying Robots9.1 Factors Considered in Applyin

11、g Industrial Robots109.2 Application Areas of Robots 機(jī)器人的應(yīng)用領(lǐng)域機(jī)器人的應(yīng)用領(lǐng)域9.2.1 Robots for IndustryCompared with the traditional machine robot, it has two main advantages：Entirely automatization in production process It brings high quality production and well quality control, and improve the ability to a

12、dapt the constantly changing user needs，so it will improve the product competitiveness in the market.Strong adaptability of production equipment The device also has the ability to adapt to failures9.2 Application Areas of Robots119.2.1 Robots for IndustryRobots for Industry mainly used in:（1）Automot

13、ive Industry （2）Machine building and electronics Industries (including Telecommunications Industry)（3）General Mechanical Industry （4）Architecture （5）Metal working （6）Foundry Industry（7）Others9.2 Application Areas of Robots12Robots for Industry classified as：（1）Materials Processing （2）Parts manufactu

14、ring (including: forging, welding, broken up, and casting)（3）Product testing (including: explicit test, implicit test)（4）Product assembly (including: materials processing, on-line testing, spare parts supply, matching agents such as pressure and tightening processes)9.2.1 Robots for Industry9.2 Appl

15、ication Areas of Robots139.2.2 Robots for Exploration 探索機(jī)器人探索機(jī)器人Robots for Exploration（1）Autonomous Robot Autonomous robot can perform programming tasks in harsh environments. （2）Remote Control Robot The operator control the robot in a harsh environment to complete some task from relative long dista

16、nce away.9.2 Application Areas of Robots9.2.2 Robots for ExplorationTwo main types of robots for explorationUnderwater Robot According to movement modes:（1）Floating Underwater Robot （2）Walking Underwater Robot（3）Mobile Underwater Robot According to power supply modes:（1）Cable Underwater Robot （2）Wir

17、eless Underwater Robot 9.2 Application Areas of Robots14159.2.2 Robots for ExplorationSpace Robot The main task of space robots: （1）To explore as a pioneer in non-human living conditions such as the moon, Mars and others planets. （2）Instead of Astronauts to complete satellite service, the space stat

18、ion service and the experiment under space environment.9.2 Application Areas of Robots169.2.3 Robots for Service 服務(wù)機(jī)器人服務(wù)機(jī)器人Definition 1 Robot for service is a semi-autonomous or full-autonomous robot，which services for human health.Definition 2 Robot for service can be seen as a kind of free program

19、ming mobile device, and it can partially or fully automatic complete services.9.2 Application Areas of Robots179.2.3 Robots for ServiceMedical robots applied to the following aspects:（1）Diagnosis Robot（2）Nursing Robot（3）Disability and Paralysis Rehabilitation Robot（4）Household Robot（5）Entertainment

20、Robot（6）Medical and surgical robot9.2 Application Areas of Robots189.2.3 Robots for ServiceOther robots for service :Deliver Letters RobotsTour Guide RobotsAdd Oil RobotsConstruction RobotsAgriculture and Forestry Robots9.2 Application Areas of Robots199.2.4 Robots for Military 軍事機(jī)器人軍事機(jī)器人9.2 Applica

21、tion Areas of RobotsGround military robots intelligent robot, including independent and semi-autonomous vehiclesremote-controlled robot, namely, Various remote unmanned vehiclesAerial military robots Marine military robots 209.3 Application Examples of Industrial Robots 工業(yè)機(jī)器人應(yīng)用舉例工業(yè)機(jī)器人應(yīng)用舉例9.3.1 Robot

22、s for Material Handling （材料搬運(yùn)）CONSIGHT system developed by General Motors (GM) is a visual control system used for transporting and assembling of the parts. 9.3 Application Examples of Industrial RobotsFig 9.3 Hardware diagram of CONSIGHT system219.3.1 Robots for Material HandlingFunctions of CONSIG

23、HT system :Determining positions and directions of various mechanical parts (including complex curve objects).It is easy to compile programs on the system by inserting the new parts.Structure light subsystem, prevent need of high scene contrast.Processing image data effectively, which contains video

24、 noise, in many typical environment of factory. 9.3 Application Examples of Industrial Robots229.3.1 Robots for Material HandlingFig 9.4 Operating procedure of CONSIGHT monitoring system 9.3 Application Examples of Industrial Robots239.3.2 Welding Robots 焊接機(jī)器人焊接機(jī)器人Welding robot has the largest appli

25、cations in industrial robot. Fig 9.5 Simplified hardware diagram of HRGH - control system 9.3 Application Examples of Industrial Robots249.3.2 Welding RobotsThe system is composed of two-level control system:First level based on microcomputer system. The first level chooses microcomputer IBM - PC/XT

26、, with the functions: management, fault diagnosis and machine language editing, compiler and etc. Second level based on single board computer system. Choosing TP - 86 single board computer as the second control circuit, realize servo position control for 5 joints. 9.3 Application Examples of Industr

27、ial Robots25Figure 9.6 Software flowchart of HRGH-II9.3.2 Welding Robots 9.3 Application Examples of Industrial Robots269.3.3 Painting Robots 噴漆機(jī)器人噴漆機(jī)器人PJ-I painting robotFig 9.8 Structure diagram of PJ-I control system 9.3 Application Examples of Industrial Robots279.3.3 Painting Robots Control software consists of two modules: Teaching moduleReplay module. Structure of these two module are similar. Teaching program consists of three tasks:Task A completes