基于ADAMS的四自由度機械手運動學仿真 (版本2),基于ADAMS的四自由度機械手運動學仿真,(版本2,基于,adams,自由度,機械手,運動學,仿真,版本 Computer and Industrial Robots There are a variety of definitions of the term robot．Depending on the definition used，the number of robot installations worldwide varies widely．Numerous single-purpose machines are used in manufacturing plants that might appear to be robots．These machines are hardwired to perform a single function and cannot be repogrammed to perform a different function． Such single-purpose machines do not fit the definition for industrial robots that is becoming widely accepted．This definition was developer) by the Robot Institute of America： A robot is a reprogrammable multifunctional manipulator designed to move material, parts，tools，or specialized devices through variable programmed motions for the performance of a variety of tasks． Note that this definition contains the words repmuammable is these two characteristics that separate the true industrial robot from the various single-purpose machines used in modern manufacturing firms．The term "reprogrammable" implies two things：The robot operates according to a written program，and this program can be rewritten to accommodate a variety of manufacturing tasks． The term“multifunctional” means that the robot can，through reprogramming and the use of different end-effectors，perform a number of different manufacturing tasks ．Definitions written around these two critical characteristics.becoming the accepted definitions among manufacturing professionals． The first articulated arm came about in 1951 and was used by the U．S. Atomic Energy Commission．In 1954，the first programmable robot was designed by George Devol .It was based on two important technologies: （1）Numerical control（NC) technology． （2) Remote manipulator technology． Numerical control technology provided a form of machine control ideally suited to robots ．It allowed for the control of motion by stored programs.These programs contain data points to which the robot sequentially moves，timing signals to initiate action and to stop movement，and logic statements to allow for decision making． Remote manipulator technology allowed a machine to be more than just another NC machine．It allowed such machines to become robots that can perform a variety of manufacturing tasks in both inaccessible and unsafe environments．By merging these two technologies，Devol developed the first industrial robot，an unsophisticated programmable materials handling machine． The first commercially produced robot was developed in 1959.In 1962，the first industrial robot to be used on a production line was installed by Geieral Motors Corporation，This robot was produced by Unimation.A major step forward in robot control occurred in 1973 with the development of the T-3 industrial robot by Cincinnati Milacron．The T-3 robot was the first commercially produced industrial robot controlled by a minicomputer. Numerical control and remote manipulator technology prompted the wide-scale development and use of industrial robots．But major technological developments do not take place simply because of such new capabilities.Something must provide the impetus for taking advantage of these capabilities．In the case of industrial robots，the impetus was economics. The rapid inflation of wages experienced in the 1970s tremendously increased the personnel costs of manufacturing firms．At the same time，foreign competition became a serious problem for U ．S．manufacturers．Foreign manufacturer; who had undertaken automation on a wide-scale basis，such as those in Japan，began to gain an increasingly large share of the U．S．and world market for manufactured goods，particularly automobiles. Zhruugh a variety of automation techniques，including robots，Japanese manufacturers, beginning in the 1970s，were able to produce better automobiles more cheaply than no natomated U．S．manufacturers．Consequently，in order to survive，U．S．manufacturers were forced to consider any technological developments that could help improve productivity． It became imperative to produce better products at lower costs in order to be competitive with foreign manufacturers．Other factors such as the need to find better ways of performing dangerous manufacturing tasks contributed to the development of industrial robots．However，the principal rationale has always been，and is still，improved productivity. One of the principal advantages of robots is that they can be used in settings that are dangerous to humans ．Welding and parting are examples of applications where robots can be used more safely than humans．Even though robots are closely associated with safety in the workplace，they can，in themselves，be dangerous． Robots and robot cells must be carefully designed and configured so that they do not endanger human workers and other machines．Robot work envelopes should be accurately calculated and a danger zone surrounding the envelope clearly marked off. Red flooring strips and barriers can be used to keep human workers out of a robot's work envelope． Even with such precautions it is still a good idea to have an automatic shut down system in situations where robots are used．Such a system should have the capacity to sense the need for an automatic shutdown of operations．Fault-tolerant computers and redundant systems can be installed to ensure proper shutdown of robotics systems to ensure a safe environment． Manufacturing into the computer is the information age. The computer has long been in the business and management have to a wide range of applications, it is as a new tool into the factories, but as the steam engine in it More than 200 years ago to make changes in the manufacturing sector, as are changes taking place in manufacturing. Although the basic metal-cutting process is unlikely to change fundamentally, but their form of organization and the control is bound to change. In one respect can be said that the manufacturing sector in the process of completing a cycle. First hand the manufacturing industry is the family Industry: the designers are themselves producers, product ideas and the completion of processing by the same person. Subsequently, the formation of the parts Overview of the interchangeability of this blog, production has been divided in accordance with professional features and text can be produced in batches of thousands of the same parts. Today, despite the designer and the manufacturer is no longer the same person, but forward to the integrated manufacturing system Way, these two functions have become increasingly closer. May have, ironically, a high degree of diversification in the market demand for the products, manufacturing must be increase productivity and reduce costs. Demanded by consumers with less money to buy high-quality and diversified products. Computer is required to meet these key factors. It is able to provide rapid response capability, flexibility and to meet the only tool for the diversification of the market. Moreover, it is the realization of integrated manufacturing system need to carry out detailed analysis and the use of accurate data, the only tool. Computer may be in the future is a basic condition for business survival, many of today's enterprises will be Health Higher production capacity to replace the corporate portfolio. Higher production capacity of these enterprises are of great combinations High quality, very high productivity of the plant. Objective is to design and operation of a high productivity of the side100% of qualified production plant products. A use of advanced technology, competitive world is to promote the manufacturing sector began to do more to their use of advanced technology. In order to adapt to competition, a company will meet each other to some extent, spear Shield's request, such as product diversification, improved quality, increased productivity, lower prices. In their efforts to meet these The course requirements, the company needed a tool for the use of advanced technology, a customer needs to make Rapid response, and resources from the manufacturing of tools to maximize revenue. Computer is the tool. Become a "very high quality, very high productivity," the factories, the need for a very complex miscellaneous integrated system. It is only through the use of the computer on all the components of the manufacturing industry - design, Fabrication, assembly, quality assurance, management and material handling and transportation to complete integration. 計算機與工業(yè)機器人 有許多關于機器人這個術語的定義。采用不同的定義，全世界各地機器人的數量就會發(fā)生很大的變化。在制造工廠中使用的許多單用途機器可能會看起來像機器人。這些機器是硬連線的，用來完成單一的工作。這種單用途的機器不能滿足被人們日益廣泛接受的關于工業(yè)機器人的定義。這個定義是由美國機器人協(xié)會提出的：機器人是一個可以改編程序的多功能操作器，被設計用來按照預先編制的、能夠完成多種作業(yè)的運動程序運送材料、零件、工具或者專用設備。 注意在這個定義中包含有“可以改編程序”和“多功能”這兩個詞。正是這兩個詞將真正的機器人與現代制造工廠中使用的單一用途的機器區(qū)分開來。“可以 改編程序”這個術語意味著兩件事：機器人根據編寫的程序工作，以及可以通過重新編寫程序來適應不同種類的制造工作的需要。 “多功能”這個詞愈味著機器人能通過編程和使用不同的末端執(zhí)行機構，來完成不同的制造工作。圍繞著這兩個關鍵特征所撰寫的定義正在變成為制造業(yè)的 專業(yè)人員所接受的定義。 第一個帶有活動關節(jié)的手臂于1951年被研制出來，由美國原子能委員會使 用。在1954年，第一個可以編程的機器人由喬治·狄弗設計出來。它基于下面兩 項重要技術： （1）數字控制(NC)技術。 （2）遠程操作器技術。 數字控制技術提供了一種非常適合于機器人的機器控制技術。它可以通過 存儲的程序對運動進行控制。這些程序包含機器人進行順序運動的數據，開始運 動和停止運動的時間控制信號，以及做出決定所需要的邏輯語句。 遠程操作器技術使得一臺機器的性能超出一臺數控機器。它可以使這種機 器能夠在不容易進人和不安全的環(huán)境中完成各種制造任務。通過融合了上述兩 項技術，狄弗研制出第一個機器人，它是一個不復雜的，可以編程的物料運送機器人。 第一臺商業(yè)化生產的機器人在1959年研制成功。通用汽車公司在1962年安 裝了第一臺用于生產線上的工業(yè)機器人，它是尤尼梅森公司生產的。在1973年， 辛辛那提·米蘭克朗公司研制出T3工業(yè)機器人，在機器人的控制方面取得了較大的進展。T3機器人是第一臺商業(yè)化生產的采用計算機控制的機器人。 數字控制技術和遠程操作器技術推動了大范圍的機器人研制和應用。但是 主要的技術進步并不僅僅是由于這些新的應用能力而產生的，而是必須由利用這 些能力所得到的效益來提供動力。就工業(yè)機器人而言，這個動力是經濟性。 在20世紀70年代中，工資的快速增長大大增加了制造業(yè)的企業(yè)中的人工費 用。與此同時，來自國外的競爭成為美國制造業(yè)所面臨的一個嚴峻的考驗。諸如 日本等外國的制造廠家在廣泛地應用了自動化技術之后，其工業(yè)產品，特別是汽 車，在美國和世界市場中占據了日益增大的份頰。 通過采用包括機器人在內的各種自動化技術，從70年代開始，日本的制造廠 家能夠比沒有采用自動化技術的美國制造廠家生產更好的和更便宜的汽車。隨后，為了生存，美國制造廠家被迫考慮采用任何能夠提高生產率的技術。 為了與國外制造廠家進行競爭，必須以比較低的成本，生產出更好的產品。 其他的因素，諸如尋找能夠更好地完成帶有危險性的制造工作的方式也促進了工 業(yè)機器人的發(fā)展。但是，主要的理由一直是，而且現在仍然是提高生產率。 機器人的一個主要優(yōu)點是它們可以在對于人類來說是危險的環(huán)境中工作。采用機器人進行焊接和切斷工作是比由人工來完成這些工作更安全的例子。盡管機器人與工作地點的安全密切相關，它們本身也可能是危險的。 應該仔細地設計和配置機器人和機器人單元，使它們不會傷害人類和其他機 器。應該精確地計算出機器人的工作范圍，并且在這個范圍的四周清楚地標出危 險區(qū)域?？梢圆捎迷诘孛嫔袭嫵黾t顏色的線和設置障礙物以阻止工人進人機器人的工作范圍。 即使有了這些預防措施，在使用機器人的場地中設置一個自動停止工作的系 統(tǒng)仍然不失為一個好主意。機器人的這個系統(tǒng)應該具有能夠檢測出是否有需要自動停止工作的要求的能力。為了保證能有一個安全的環(huán)境，應當安裝容錯計算機和冗余系統(tǒng)來保證在適當的時候停止機器人的工作。 計算機正在將制造業(yè)帶入信息時代。計算機長期以來在商業(yè)和管理方面得到了廣泛的應用，它正在作為一種新的工具進人到工廠中，而且它如同蒸汽機在200多年前使制造業(yè)發(fā)生改變那樣，正在使制造業(yè)發(fā)生著變革。 盡管基本的金屬切削過程不太可能發(fā)生根本性的改變，但是它們的組織形式和控制方式必將發(fā)生改變。 從某一方面可以說，制造業(yè)正在完成一個循環(huán)。最初的制造業(yè)是家庭手工業(yè)：設計者本身也是制造者，產品的構思與加工由同一人完成。后來，形成了零件的互換性這個概志、生產被依照專業(yè)功能分割并案，可以成批地生產數以千計的相同零件。 今天，盡管設計者與制造者不可能再是同一個人，但在向集成制造系統(tǒng)前進的途中，這兩種功能已經越來越靠近了。 可能具有諷刺意味的是，在市場需求高度多樣化的產品的同時，制造業(yè)必須提高生產率和降低成本。消費者要求用較少的錢去購買高質量和多樣化的產品。 計算機是滿足這些要求的關鍵因素。它是能夠提供快速反應能力、柔性和來滿足多樣化市場的唯一工具。而且，它是實現制造系統(tǒng)集成所需要的、能夠進行詳細分析和利用精確數據的唯一工具。 在將來計算機可能會是一個企業(yè)生存的基本條件，許多現今的企業(yè)將會被生產能力更高的企業(yè)組合所取代。這些生產能力更高的企業(yè)組合是一些具有非常高的質量、非常高的生產率的工廠。目標是設計和運行一個能夠以高生產率的方式生產100%合格產品的工廠。 一個采用先進技術的、競爭的世界正在促使制造業(yè)開始做更多的工作，使其本身采用先進的技術。為了適應競爭，一個公司會滿足一些在某種程度上相互矛盾的要求，諸如產品多樣化、提高質量、增加生產率、降低價格。在努力滿足這些要求的過程中，公司需要一個采用先進技術的工具，一個能夠對顧客的需求做出快速反應，而且從制造資源中獲得最大收益的工具。 計算機就是這個工具。成為一個具有“非常高的質量、非常高的生產率”的工廠，需要對一個非常復雜的系統(tǒng)進行集成。這只有通過采用計算機對制造業(yè)的所有組成部分—設計、加工、裝配、質量保證、管理和材料裝卸及輸送進行集成才能夠完成。