內(nèi)容機器人技術(shù)chapter

1、China Jiliang UniversityDr. Binrui Wang Ch.1 IntroductionRobot Technology1lessons1 I NTRODUCTIONDr. Yuanhui Zhang Exam, ExerciseReference bookResource 2 I NTRODUCTIONThe subject of Robotics is relevant in todays engineering curriculum because of the robots ability to perform the tireless and dangero

2、us jobs. A robot is only meaningful when it is meant to relieve a human worker from doing a boring, unpleasant, hazardous, or a too precise job. 31.1 The history of robotsthe idea of robots goes back to ancient times of over 3000 years ago in Indias legend of mechanical elephants (Fuller, 1999).the

3、first use of the robot appeared in 1921 in the play Rossums Universal Robots (RUR written by the Czeck writer Karel Capek (1890-1938).In the play RUR (Dorf, 1988), a fictional manufacturer of mechanical creatures designed robot replace human workers. 4 Laws of roboticsA robot must not harm a human b

4、eing, nor through inaction allow one to come to harm.A robot must always obey human beings, unless that is in conflict with the first Law.A robot must protect from harm, unless that is in conflict with the first two laws.A robot may take a human beings job but it may not leave that person jobless.5R

5、obotics has evolved in a multitude of directionsRobotics has evolved in a multitude of directions, starting from using them in welding painting, in assembly, machine tool loading and unloading, inspection, agriculture, nursing purposes, medical surgery, military, security, machine-tools to undersea

6、and space explorations.6Unimate robot Fig.1.1 Armed for duty. A Unimate robot -really, just an arm-picks up and puts down parts in a General Electric factory.(a) Photo of a Unimate robot7Fig.1.1(b) Sketch of Unimate robot Unimate robot8Mars explorationFig.1.2(a) Pathfinder Lander with the microrover

7、 outside on-board9Mars explorationFig.1.2 (b)Sojourner microrover Robotic Systems for Mars exploration 101.2 ROBOTSA robot is formally defined in the International Standard of Organization (ISO) as a reprogrammable, multifunctional manipulator designed to move material, parts tools or specialized de

8、vices through variable programmed motions for the performance of a variety of tasks. There exist several other definitions too. All definition have two points in common. They are reprogramability and multifunc-tionality of robots.Robots are broadly classified as industrial and non-industrial or spec

9、ial-purpose.11A typical industrial robotFig1.3 (a) Cincinnati Milacron (T3)12An Indian robot suitable for light industrial applicationsFig.1.3 (b)Pick and place robot from Systemantic India13Automatic Guided Vehicles(a)(b) Fig.1.4 An AGV: (a) Stand alone; (b)At work (picking up a hanger with car doo

10、rs 14Automatic Guided Vehicles(a) A Mekanum wheel(b) An AGVFig.1.5 An Automatic Guided Vehicle (AGV) with Mekanum Wheels 15Walking RobotsFig.1.6 The Ohio State University walking robot, Hexapod 16They are used in military, undersea exploration, and places where rough terrains exist.Parallel RobotsA

11、walking robot with all its legs touching the ground is a parallel robot. Also as shown in Fig. 1.7, a parallel structure with six legs to control the moving platform is used as a flight simulator for imparting training to prospective pilots. 17Parallel RobotsFig. 1.7 Parallel robot for flight simula

12、tor 18Parallel RobotsFig. 1.8 Parallel robot as a milling machine191.3 ROBOT USAGEThumb Rules on the Decision of a Robot Usage 1. The job is appropriate for automation or for robotic labour. 2. The second rule is that a robot may not leave a human jobless. 3. A third rule involve asking whether you

13、can find people who are willing to do. 4. A fourth rule of thumb is that the use of robots or automation must make short-term and long-term economic sense.201.3.1ApplicationsFig.1.9 Usage of industrial robots during 2004-05211.3.2 PopulationFig. 1 .10 Estimated populations of industrial robot221.3.2

14、 PopulationFib. 1 .11 Application of other robots and their forecast231.3.2 PopulationTable 1 .1 Estimated stock of industrial robots during 2004-05 and forecast for 2006-9241.3.2 Population251.3.2 Population261 .3.3 EconomicsIndustrial robots are ing cheaper and cheaper and is reflected in the used

15、 industrial robot prices. Consider that an ABB IRB 6000 that is priced at Rs. 3,20,000 (USD 7000) cost over Rs. 72,00.000 when new in 1993 A new equivalent robot will cost between Rs. 24,00,000 to Rs. 48,00,000 depending on manufacturer and specifications.The prices of the robots are ing so cheap that, for some countries, a new robot is even cheaper than the cheapest labourer.271 .3.4 SafetyIndustrial robots especially models can be dangerous. They are exceptionally powerful device with a large capacity and reach. This means that safety is paramount durin