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英文文獻(xiàn)：
INDUSTRIAL ROBOTS
Industrial robots There are variety of definitions of the term robot. Depending on the definitionused the number of robot installations worldwide varies widely. Numeroussingle-purpose machines are used in manufacturing plants that might appear to berobots. These machines are hardwried to perform a single function and cannot bereprogrammed to preform a different function. Such single-purpose machines do notfit the definition for industrial robots that is becoming widely accepted.this definitionwas developed by the Robot Institute of America.
A robot is a reprogrammable multifunctional mainipulator designed to movematerial parts tools or specialized devices through variable programmed motions forthe performance of a variety of tasks.
Note that this definition contains the words reprogrammable andmultifunctional. It is these two characteristics that separate the ture industrial robotfrom the various single-purpose machines used in modern manufacturing firms.
The term “reprogrammable” implies two things: The robot operates according to a writtenprogram and this program can be rewritten to accommodate a variety ofmanufactureing tasks. The term “multifunctional” means that the robot can through reprogrammingand the use of different end-effectors perform a number of different manufacturingtasks. Definitions written around these two critical characteristics are becoming theaccpted definitions among manufacturing professionals.
The first articulated arm came about in 1951 and was used by the U. S. AtomicEnergy Commission. In 1954 the first programmable robot was designed by GeorgeDevol. It was based on two important technologies:
1 Numerical control NC technology.
2 Romote manipulator technology.
Numerical contorl technology provided a form of machine control ideally suitedto robots. It allowed for the control of motion by stored programs. These programscontain date points to which the sequentially moves timing signals initiate action andto stop movement and logic staements to allow for decision making.
Remote manipulator technology allowed a machine to be more than just anotherNC machine. It allowed such machines to become robots that can perform a variety ofmanufacturing tasks in both inaccessible and unsafe environments. By merging thesetwo technologies Devol developed the first industrial robot an unsophisticatedprogrammable materials handling machine.
The first commerically produced robot was developed in 1959. In 1962General Motors Corporation. This robot was produced by Unimation. A major stepforword in robot control occurred in 1973 with the development of the T-3 industrialrobot by Cincinnati Milacron. The T-3 robot was the first commercially producedindustrial robot controlled by a minicomputer.
Numerical control and remote manipulator technology prompted the wide-scaledevelopment and use of industrial robots. But major technological developments donot take place simply because of such new capabilities. Something must provide theimpetus for taking advantage of these capabilities. In the case of industrial robots theimpetus was economics.
The rapid inflation of wages experienced in the 1970s tremendously increasedthe personnel costs of manufacturing firms. At the same time foreign competitionbecame a serious problem for U. S. manufacturers. Foreign manufacturers who hadundertaken automation on a wide-scale basis such as those in Japan began to gain anincreasingly large share of the U. S. and world market for manufactured goodsparticularly automobiles.
Through a variety of automation techniques including robots Japanesemanufacturers beginning in the 1970s were able to produce better automobiles morecheaply than nonautomated U. S. manufacturers. Consequently in order to survive U.S. manufacturers were forced to consider any technological developments that couldhelp improve productivity.
It became imperative to produce better products at lower costs in order to becompetitive with foreign manufacturers. Other factors such as the need to find betterways of performing dangerous manufacturing tasks contributed to the development ofindustial robots. However the principal rationale has always been and is stillimproved productivity.
One of the principal advantages of robots is that they can be used in settingsthat are dangerous to humans. Welding and parting are examples of applicationswhere robots can be used more safely than humans. Even though robots are closelyassociated with safety in the workplace they can in themselves be dangerous.
Robots and robot cells must be carefully designed and configured so that theydo not endanger human workers and other machines.Robot work envelops should beaccurately calculated and a danger zone surrounding the envelope clearly marked off.Red flooring strips and barries can be used to keep human workers out of a robot’swork envelope.
Even with such precautions it is a good idea to have an automatic shutdownsystem in situations where robots are used. Such a system should have the capacity tosense the need for an automatic shutdown of operations. Fault-tolerant computers andredundant systems can be installed to ensure proper shutdown of robotics systems toensure a safe enviroment. About componets of a robot system the componets of a robot system could bediscussed either from a systems point of view. Physically we could divide the systemand controller computer . Likewise the robot itself could be partitionedanthropomorphically into base shoulder elbow wrist gripper and tool. Most of theseterms require little explanation.
Consequently we will describe the components of a robot system from thepoint of view of information transfer. That is what information or signal enters thecomponent what logical or arithmetic operation does the component perform andwhat information or signal does the component produce It is important to note thatthe same physical component may performs many different information processingoperations e. g. a central computer performs many different calculations ondifferent data . Likewise two physically separate components many performidentical informations e .g . the shoulder and elbow actuators both convert signalsto motion in very similar way
中文翻譯：
工業(yè)機(jī)器人
工業(yè)機(jī)器人有許多關(guān)于機(jī)器人這個(gè)術(shù)語(yǔ)的定義。采用不同的定義，全世界各地機(jī)器人的數(shù)量就會(huì)發(fā)生很大的改變。 在制造工廠中使用的許多但用途機(jī)器可能會(huì)看起來(lái)像機(jī)器人。這些機(jī)器是硬連線的，用來(lái)完成單一的工作，不能通過(guò)重新編程的方法去完成不同的工作。 這種單用途的機(jī)器不能滿足被人們?nèi)找鎻V泛接受的關(guān)于工業(yè)機(jī)器人的定義。這個(gè)定義是由美國(guó)機(jī)器人協(xié)會(huì)提出的:
機(jī)器人是一個(gè)可以改編程序的多功能操作器，被設(shè)計(jì)用來(lái)按預(yù)先編制的，能夠完成多種作業(yè)的運(yùn)動(dòng)程序運(yùn)送材料，零件，工具或者專用設(shè)備。
注意在這個(gè)定義中包含有“可以改編程序”和“多功能”這兩個(gè)詞。正是這兩個(gè)詞將真正的機(jī)器人與現(xiàn)代制造工廠中使用的單一用途的機(jī)器區(qū)分開(kāi)來(lái)。“可以改編程序”這個(gè)術(shù)語(yǔ)意味著兩件事：機(jī)器人根據(jù)編寫(xiě)的程序工作，以及可以通過(guò)重新編程來(lái)適應(yīng)不同種類的制造工作的需要。
“多功能”這個(gè)詞意味著機(jī)器人能通過(guò)編程和使用不同的末端執(zhí)行機(jī)構(gòu)，來(lái)完成不同的制造工作。 圍繞著兩個(gè)關(guān)鍵特征所撰寫(xiě)的定義正在變成為制造業(yè)的專業(yè)人員接受的定義。
第一個(gè)帶有活動(dòng)關(guān)節(jié)的手臂于 1951 年被研制出來(lái)，由美國(guó)原子能委員會(huì)使用。在 1954 年，第一個(gè)可以編程的機(jī)器人由喬治狄弗設(shè)計(jì)出來(lái)。他基于下面來(lái)兩項(xiàng)重要技術(shù)：
（1） 數(shù)字控制（NC）技術(shù)。
（2） 遠(yuǎn)程操作器技術(shù)。
數(shù)字控制技術(shù)提供了一種非常適合機(jī)器人的機(jī)器控制技術(shù)。它可以通過(guò)存儲(chǔ)的程序?qū)\(yùn)動(dòng)進(jìn)行控制。這些程序包含機(jī)器人進(jìn)行順序運(yùn)動(dòng)的數(shù)據(jù)，開(kāi)始運(yùn)動(dòng)和停止運(yùn)動(dòng)的時(shí)間控制信號(hào)，以及作出決定所需要的邏輯語(yǔ)句。
遠(yuǎn)程操作器技術(shù)使得一臺(tái)機(jī)器的性能超出一臺(tái)數(shù)控機(jī)器。它可以使這種機(jī)器能夠在不容易進(jìn)入和不安全的環(huán)境中完成各種制造任務(wù)。 通過(guò)融合了上述兩種技術(shù)，狄弗研制出第一個(gè)機(jī)器人，它是一個(gè)不復(fù)雜的，可以編程的物料運(yùn)送機(jī)器人。
第一臺(tái)商業(yè)化生產(chǎn)的機(jī)器人在 1959 年研制成功。通用汽車公司在 1962 年安裝了第一臺(tái)用于生產(chǎn)線上的工業(yè)機(jī)器人，它是尤尼梅森公司生產(chǎn)的。在 1973年，辛辛提那米蘭克朗公司研制出 T-3 工業(yè)機(jī)器人，在機(jī)器人的控制方面取得了較大的進(jìn)展。T-3 機(jī)器人是第一臺(tái)商業(yè)化生產(chǎn)的采用計(jì)算機(jī)控制的機(jī)器人。
數(shù)字控制技術(shù)和遠(yuǎn)程操作器技術(shù)推動(dòng)了大范圍的機(jī)器人研制和應(yīng)用。但是主要的技術(shù)進(jìn)步并不僅僅是由于這些新的應(yīng)用能力而產(chǎn)生的， 而是必須有利用這些能力所得到的效益來(lái)提供動(dòng)力。就工業(yè)機(jī)器人而言，這個(gè)動(dòng)力是經(jīng)濟(jì)性。
在 20 世紀(jì) 70 年代中，工資的快速增長(zhǎng)大大增加了制造業(yè)的企業(yè)中的人工費(fèi)用。與此同時(shí)，來(lái)自國(guó)外的競(jìng)爭(zhēng)成為美國(guó)制造業(yè)所面臨的嚴(yán)重考驗(yàn)。諸如日本等外國(guó)的制造廠家在廣泛的應(yīng)用了自動(dòng)化技術(shù)之后，其工業(yè)產(chǎn)品，特別是汽車，在美國(guó)和世界市場(chǎng)中占據(jù)了日益增大的份額。
通過(guò)采用包括機(jī)器人在內(nèi)的各種自動(dòng)化技術(shù)，從 70 年代開(kāi)始，日本的制造廠家能夠比沒(méi)有采用自動(dòng)化技術(shù)的美國(guó)制造廠家生產(chǎn)更多的和更便宜的汽車。 隨后，為了生存，美國(guó)制造廠家進(jìn)行競(jìng)爭(zhēng)，必須以比較低的成本，生產(chǎn)出更好的產(chǎn)品。其他的因素，注入尋找能夠更好的完成帶有危險(xiǎn)性的制造工作的方式也促進(jìn)了工業(yè)機(jī)器人的發(fā)展。但是，主要的理由一直是，而且現(xiàn)在仍然是提高生產(chǎn)率。
機(jī)器人的一個(gè)優(yōu)點(diǎn)是它們可以在相對(duì)于人類來(lái)說(shuō)是危險(xiǎn)的環(huán)境中工作。采用機(jī)器人進(jìn)行焊接和切斷工作室比由人工來(lái)完成這些工作更安全的例子。盡管機(jī)器人與工作地點(diǎn)的安全密切相關(guān)，它們本身也可能是危險(xiǎn)的。
應(yīng)該仔細(xì)的設(shè)計(jì)和配置機(jī)器人和機(jī)器人單元，使它們不會(huì)傷害人類和其他機(jī)器。應(yīng)該精確的計(jì)算出機(jī)器人的工作范圍，并且在這個(gè)范圍的四周清晰地標(biāo)出危險(xiǎn)區(qū)域?？梢圆捎迷诘厣蟿澇黾t顏色的線和設(shè)置障礙物以阻止工人進(jìn)入機(jī)器人的工作范圍。
即使有了這些預(yù)防措施，在使用機(jī)器人的場(chǎng)地中設(shè)置一個(gè)自動(dòng)停止工作的系統(tǒng)仍然不失為一個(gè)好主意。機(jī)器人這個(gè)系統(tǒng)應(yīng)該具有能夠檢測(cè)出是否有需要自動(dòng)停止工作的要求的能力。為了保證能有一個(gè)安全的環(huán)境，應(yīng)當(dāng)安裝容錯(cuò)計(jì)算機(jī)和冗余系統(tǒng)來(lái)保證在適當(dāng)?shù)臅r(shí)候停止機(jī)器人的工作。
關(guān)于機(jī)器人系統(tǒng)的組成部分，可以從物質(zhì)的觀點(diǎn)也可以從系統(tǒng)的觀點(diǎn)來(lái)討論機(jī)器人系統(tǒng)的組成部分。從物質(zhì)上看，我們可以將機(jī)器人分為機(jī)器人，電源系統(tǒng)和控制器（計(jì)算機(jī)）。機(jī)器人本身可以像人一樣被分為基座，肩，肘，腕，抓持器和工具。這些術(shù)語(yǔ)中的大部分不需要做任何解釋。
因此，我們將根據(jù)信息傳遞的觀點(diǎn)來(lái)描述機(jī)器人系統(tǒng)的組成部分。也就是，什么信息或者信號(hào)進(jìn)入計(jì)算機(jī)的組成部分，這個(gè)組成部分進(jìn)行何種邏輯或者算術(shù)運(yùn)算，這個(gè)組成部分產(chǎn)生什么信息或者信號(hào)？應(yīng)該認(rèn)識(shí)到，同一個(gè)組成部分可以完成許多不同的信息處理工作（例如，中心計(jì)算機(jī)可以根據(jù)不同的數(shù)據(jù)進(jìn)行許多不同種類的計(jì)算），這一點(diǎn)是很重要的。與之相似，在結(jié)構(gòu)上分開(kāi)的兩個(gè)組成部分可以進(jìn)行相同的信息操作（例如，肩部和肘部的執(zhí)行機(jī)構(gòu)用非常相似的方式將信息轉(zhuǎn)換為運(yùn)動(dòng)）。
注：出自《機(jī)械工程專業(yè)英語(yǔ)》