Weld robot application present condition
According to incompletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu Han.What we say's welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but constitute.In many task environments, a set robot even can complete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the completion corresponds of task.Therefore, come up to say from a certain meaning, the development history of industrial robot is the development history that welds robot.
Know to all, weld to process to request that welder have to have well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welder's labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time.
However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to change.Handicraft Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to"see" this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don't seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the
application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning.
Actually, industrial robot at welded the application of realm to produce on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower request.Order the Han robot assembles to produce a great deal of on-line application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want ～only change procedure, can produce in the same on-line carry on assemble to weld to different cars type.
BE born till the beginning of this 80's in century from the robot, the robot technique experienced a development process of long term slowness.90's, along with the rapid development of calculator technique, micro-electronics technique, and network technique...etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the person's labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with compared in the past;And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price compare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower.
Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare to adopt the
benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest nation.Go to at the end of 2004 the whole world to have at least in the industrial robot of service about 1,000,000.
Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to combine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu within assemble process Han.Robot's giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.
Moreover, robot's giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc..Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.
Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy...etc.) get an application in the material in the car structure.These materials' welding usually can not solve with the welding of tradition method, have to adopt
to lately weld a method and weld a craft.Among them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub combining of Han to become inevitable trend.Be like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld.
Give or get an electric shock Hu Han to compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghai's car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.
The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry person's arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn't unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution weld s to exercise in the process to
the robot very important.Different treatment of system to this problem of the robot control doesn't exert a homology.
Is general to come to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.
For some weld situation, work piece because of leading big or the space is several what the shape is too complicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this https://www.doczj.com/doc/1e15690604.html,ually have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot;Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.
Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Han's sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:
One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a track.Although this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance efficiency.But because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.
Two is the way that adopts a completely off-line plait distance, make the robot weld
drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to compute in a set to independently complete on board, don't need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefo re, wove a distance work to not and easily save time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of "conjecture show to teach"(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the space acquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio...etc..Figure 9 show develop by oneself for the writer of according to PC of 3D can see to turn an off-line plait distance of robot system.The system can IRB140 robots aiming at ABB company carry on an off-line plait distance, the Han in the procedure sews a track to pass conjecture to show to teach to acquire, and can let the robot press the track in the procedure to imitate sport in the 3D sketch environment, examine its accuracy and rationality with this.The procedure woven can pass a network directly the download to the robot controller.
The industrial robot of our country"75" science and technologies offend a pass to start starting from the 80's, currently already basic control a robot operation of the design manufacturing of the machine technique, control system hardware and software to design technique, kinetics and track to program a technique, gave birth to parts of robot key dollar spare part, develop to spray a paint, Hu Han and order robots, such as Han, assemble and porterage...etc.;The robot of Hu Han has already applied in the Han of car manufactory to pack on-line.But total of come to see, our country of industrial robot technique and it engineering application of level and abroad than still have certain distance, such as:Credibility low outside the country product;The robot application engineering starts a little bit late and
apply realm narrow, production line system technique and abroad than have a margin;The applied scale is small, didn't form robot industry.
The robot of the current our country the production is all request that applies a door, list door the single time re- design, the species specification is many, small batch quantity, zero partses are in general use to turn degree low, provide a goods period long, the cost is not low either, and the quality, credibility is unsteady.Consequently and urgently need to solve industry to turn an ex- key technique for expecting, Be to the product carry on programing completely, make good series to turn, in general use turn, the mold piece turn a design and actively push forward industry to turn progress.
3, weld robot development trend
The international robot boundaries are enlarging a research, carry on robot currently total technical research.The development trend sees from the robot technique, weld robot similar to the other industrial robot, continuously turn to the intelligence and diversify a direction to develop.Is concrete but talk, performance in as follows a few aspects:
1).The robot operates machine structure:
Pass a limited dollar the analysis and mold Tai analyze and imitate the usage of true design etc. modern design method and carry out robot operation organization of excellent turn a design.
Quest high strength light quality material, raise a load further|hold with dignity a ratio.For example, take Germany's KUKA company as the representative's robot company, have already merged robot the parallelogram structure change to opening chain structure and expand the work scope of robot, the application of light quality aluminum metal alloy material add, consumedly raise the function of robot.The RV that in addition adopts a forerunner decelerates a machine and communicates servo electrical engineering, make robot operation machine almost become don't need support system.
The organization facing mold piece turns and can weigh to reach a direction development.For example, the servo electrical engineering in the joint mold piece, decelerate machine and examine system Christian Trinity to turn;From joint mold piece, connect a pole mold piece is constructed robot the whole machine with the reorganization method;The abroad has already had the mold piece the disguise to go together with a robot product to ask city.
The structure of the robot is getting clever, control system smaller and smaller, twos just turn a direction development toward the integral whole.
The adoption merges organization and makes use of a robot technique, realization Gao accuracy measure and process, this is the robot technique to number control technique of
expand, carried out robot and number to control technique integral whole to turn to lay foundation for future.Italian COMAU company, companies like Japan FANUC,etc developed this kind of product.
焊接机器人应用现状
据不完全统计，全世界在役的工业机器人中大约有将近一半的工业机器人用于各种形式的焊接加工领域，焊接机器人应用中最普遍的主要有两种方式，即点焊和电弧焊。我们所说的焊接机器人其实就是在焊接生产领域代替焊工从事焊接任务的工业机器人。这些焊接机器人中有的是为某种焊接方式专门设计的，而大多数的焊接机器人其实就是通用的工业机器人装上某种焊接工具而构成的。在多任务环境中，一台机器人甚至可以完成包括焊接在内的抓物、搬运、安装、焊接、卸料等多种任务，机器人可以根据程序要求和任务性质，自动更换机器人手腕上的工具，完成相应的任务。因此，从某种意义上来说，工业机器人的发展历史就是焊接机器人的发展历史。
众所周知，焊接加工要求焊工要有熟练的操作技能、丰富的实践经验、稳定的焊接水平；它还是一种劳动条件差、烟尘多、热辐射大、危险性高的工作。工业机器人的出现使人们自然而然首先想到用它代替人的手工焊接，减轻焊工的劳动强度，同时也可以保证焊接质量和提高焊接效率。
然而，焊接又与其它工业加工过程不一样，比如，电弧焊过程中，被焊工件由于局部加热熔化和冷却产生变形，焊缝的轨迹会因此而发生变化。手工焊时有经验的焊工可以根据眼睛所观察到的实际焊缝位置适时地调整焊枪的位置、姿态和行走的速度，以适应焊缝轨迹的变化。然而机器人要适应这种变化，必须首先像人一样要“看”到这种变化，然后采取相应的措施调整焊枪的位置和状态，实现对焊缝的实时跟踪。由于电弧焊接过程中有强烈弧光、电弧噪音、烟尘、熔滴过渡不稳定引起的焊丝短路、大电流强磁场等复杂的环境因素的存在，机器人要检测和识别焊缝所需要的信号特征的提取并不像工业制造中其它加工过程的检测那么容易，因此，焊接机器人的应用并不是一开始就用于电弧焊过程的。
实际上，工业机器人在焊接领域的应用最早是从汽车装配生产线上的电阻点焊开始的。原因在于电阻点焊的过程相对比较简单，控制方便，且不需要焊缝轨迹跟踪，对机器人的精度和重复精度的控制要求比较低。点焊机器人在汽车装配生产线上的大量应用大大提高了汽车装配焊接的生产率和焊接质量，同时又具有柔性焊接的特点，即只要改变程序，就可在同一条生产线上对不同的车型进行装配焊接。
从机器人诞生到本世纪80年代初，机器人技术经历了一个长期缓慢的发展过程。到了90年代，随着计算机技术、微电子技术、网络技术等的快速发展，机器人技术也得到了飞速发展。工业机器人的制造水平、控制速度和控制精度、可靠性等不断提高，而机器人的制造成本和价格却不断下降。在西方社会，和机器人价格相反的是，人的劳动力成本有不断增长的趋势。联合国欧洲经济委员会(UNECE)统计从1990年至2000年
的机器人价格指数和劳动力成本指数的变化曲线。其中把1990年的机器人价格指数和劳动力成本指数都作为参考值100，至2000年，劳动力成本指数为140，增长了40%；而机器人在考虑质量因素的情况下价格指数低于20，降低了80%，在不考虑质量因素的情况下，机器人的价格指数约为40，降低了60%。这里，不考虑质量因素的机器人价格是指现在的机器人实际价格与过去相比较；而考虑质量因素是指由于机器人制造工艺技术水平的提高，机器人的制造质量和性能即使在同等价格的条件下也要比以前高，因此，如果按过去的机器人同等质量和性能考虑，机器人的价格指数应该更低。
由此可以看出，在西方国家，由于劳动力成本的提高为企业带来了不小的压力，而机器人价格指数的降低又恰巧为其进一步推广应用带来了契机。减少员工与增加机器人的设备投资，在两者费用达到某一平衡点的时候，采用机器人的利显然要比采用人工所带来的利大，它一方面可大大提高生产设备的自动化水平，从而提高劳动生产率，同时又可提升企业的产品质量，提高企业的整体竞争力。虽然机器人一次性投资比较大，但它的日常维护和消耗相对于它的产出远比完成同样任务所消耗的人工费用小。因此，从长远看，产品的生产成本还会大大降低。而机器人价格的降低使一些中小企业投资购买机器人变得轻而易举。因此，工业机器人的应用在各行各业得到飞速发展。根据UNECE 的统计，2001年全世界有75万台工业机器人用于工业制造领域，其中38.9万在日本、19.8万在欧盟、9万在北美，7.3万在其余国家。至2004年底全世界在役的工业机器人至少有约100万。
由于机器人控制速度和精度的提高，尤其是电弧传感器的开发并在机器人焊接中得到应用，使机器人电弧焊的焊缝轨迹跟踪和控制问题在一定程度上得到很好解决，机器人焊接在汽车制造中的应用从原来比较单一的汽车装配点焊很快发展为汽车零部件和装配过程中的电弧焊。机器人电弧焊的最大的特点是柔性，即可通过编程随时改变焊接轨迹和焊接顺序，因此最适用于被焊工件品种变化大、焊缝短而多、形状复杂的产品。这正好又符合汽车制造的特点。尤其是现代社会汽车款式的更新速度非常快，采用机器人装备的汽车生产线能够很好地适应这种变化。
另外，机器人电弧焊不仅用于汽车制造业，更可以用于涉及电弧焊的其它制造业，如造船、机车车辆、锅炉、重型机械等等。因此，机器人电弧焊的应用范围日趋广泛，在数量上大有超过机器人点焊之势。
随着汽车轻量化制造技术的推广，一些高强合金材料和轻合金材料(如铝合金、镁合金等)在汽车结构材料中得到应用。这些材料的焊接往往无法用传统的焊接方法来解决，必须采用新的焊接方法和焊接工艺。其中高功率激光焊和搅拌摩擦焊等最具发展潜力。因此，机器人与高功率激光焊和搅拌摩擦焊的结合将成为必然趋势。事实上，像上海大众等国内最具实力的汽车制造商在他们的新车型制造过程中已经大量使用机器人激光焊接。
和机器人电弧焊相比，机器人激光焊的焊缝跟踪精度要求更高。根据一般的要求，
机器人电弧焊(包括GTAW和GMAW)的焊缝跟踪精度必须控制在电极或焊丝直径的1/2以内，在具有填充丝的条件下焊缝跟踪精度可适当放宽。但对激光焊而言，焊接时激光照射在工件表面的光斑直径通常在0.6以内，远小于焊丝直径(通常大于1.0)，而激光焊接时通常又不加填充焊丝，因此，激光焊接中若光斑位置稍有偏差，便会造成偏焊、漏焊。因此，上海大众的汽车车顶机器人激光焊除了在工装夹具上采取措施防止焊接变形外，还在机器人激光焊枪前方安装了德国SCOUT公司的高精度激光传感器用于焊缝轨迹的跟踪。
工业机器人的结构形式很多，常用的有直角坐标式、柱面坐标式、球面坐标式、多关节坐标式、伸缩式、爬行式等等，根据不同的用途还在不断发展之中。焊接机器人根据不同的应用场合可采取不同的结构形式，但目前用得最多的是模仿人的手臂功能的多关节式的机器人，这是因为多关节式机器人的手臂灵活性最大，可以使焊枪的空间位置和姿态调至任意状态，以满足焊接需要。理论上讲，机器人的关节愈多，自由度也愈多，关节冗余度愈大，灵活性愈好；但同时也给机器人逆运动学的坐标变换和各关节位置的控制带来复杂性。因为焊接过程中往往需要把以空间直角坐标表示的工件上的焊缝位置转换为焊枪端部的空间位置和姿态，再通过机器人逆运动学计算转换为对机器人每个关节角度位置的控制，而这一变换过程的解往往不是唯一的，冗余度愈大，解愈多。如何选取最合适的解对机器人焊接过程中运动的平稳性很重要。不同的机器人控制系统对这一问题的处理方式不尽相同。
一般来讲，具有6个关节的机器人基本上能满足焊枪的位置和空间姿态的控制要求，其中3个自由度(XYZ)用于控制焊枪端部的空间位置，另外3个自由度(ABC)用于控制焊枪的空间姿态。因此，目前的焊接机器人多数为6关节式的。
对于有些焊接场合，工件由于过大或空间几何形状过于复杂，使焊接机器人的焊枪无法到达指定的焊缝位置或焊枪姿态，这时必须通过增加1～3个外部轴的办法增加机器人的自由度。通常有两种做法：一是把机器人装于可以移动的轨道小车或龙门架上，扩大机器人本身的作业空间；二是让工件移动或转动，使工件上的焊接部位进入机器人的作业空间。也有的同时采用上述两种办法，让工件的焊接部位和机器人都处于最佳焊接位置。
焊接机器人的编程方法目前还是以在线示教方式(Teach-in)为主，但编程器的界面比过去有了不少改进，尤其是液晶图形显示屏的采用使新的焊接机器人的编程界面更趋友好、操作更加易。然而机器人编程时焊缝轨迹上的关键点坐标位置仍必须通过示教方式获取，然后存入程序的运动指令中。这对于一些复杂形状的焊缝轨迹来说，必须花费大量的时间示教，从而降低了机器人的使用效率，也增加了编程人员的劳动强度。目前解决的方法有2种：
一是示教编程时只是粗略获取几个焊缝轨迹上的几个关键点，然后通过焊接机器人的视觉传感器(通常是电弧传感器或激光视觉传感器)自动跟踪实际的焊缝轨迹。这种方
式虽然仍离不开示教编程，但在一定程度上可以减轻示教编程的强度，提高编程效率。但由于电弧焊本身的特点，机器人的视觉传感器并不是对所有焊缝形式都适用。
二是采取完全离线编程的办法，使机器人焊接程序的编制、焊缝轨迹坐标位置的获取、以及程序的调试均在一台计算机上独立完成，不需要机器人本身的参与。机器人离线编程早在多年以前就有，只是由于当时受计算机性能的限制，离线编程软件以文本方式为主，编程员需要熟悉机器人的所有指令系统和语法，还要知道如何确定焊缝轨迹的空间位置坐标，因此，编程工作并不轻松省时。随着计算机性能的提高和计算机三维图形技术的发展，如今的机器人离线编程系统多数可在三维图形环境下运行，编程界面友好、方便，而且，获取焊缝轨迹的坐标位置通常可以采用“虚拟示教”(virtual Teach-in)的办法，用鼠标轻松点击三维虚拟环境中工件的焊接部位即可获得该点的空间坐标；在有些系统中，可通过CAD图形文件中事先定义的焊缝位置直接生成焊缝轨迹，然后自动生成机器人程序并下载到机器人控制系统。从而大大提高了机器人的编程效率，也减轻了编程员的劳动强度。目前，国际市场上已有基于普通PC机的商用机器人离线编程软件。如Workspace5、RobotStudio等。图9所示为笔者自行开发的基于PC的三维可视化机器人离线编程系统。该系统可针对ABB公司的IRB140机器人进行离线编程，程序中的焊缝轨迹通过虚拟示教获得，并在三维图形环境中可让机器人按程序中的轨迹作模拟运动，以此检验其准确性和合理性。所编程序可通过网络直接下载给机器人控制器。
我国的工业机器人从80年代“七五”科技攻关开始起步，目前已基本掌握了机器人操作机的设计制造技术、控制系统硬件和软件设计技术、运动学和轨迹规划技术，生产了部分机器人关键元器件，开发出喷漆、弧焊、点焊、装配、搬运等机器人；弧焊机器人已应用在汽车制造厂的焊装线上。但总的来看，我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，如：可靠性低于国外产品；机器人应用工程起步较晚，应用领域窄，生产线系统技术与国外比有差距；应用规模小，没有形成机器人产业。
当前我国的机器人生产都是应用户的要求，单户单次重新设计，品种规格多、批量小、零部件通用化程度低、供货周期长、成本也不低，而且质量、可靠性不稳定。因此迫切需要解决产业化前期的关键技术，对产品进行全面规划，搞好系列化、通用化、模块化设计，积极推进产业化进程。
3、焊接机器人发展趋势
目前国际机器人界都在加大科研力度，进行机器人共性技术的研究。从机器人技术发展趋势看，焊接机器人和其它工业机器人一样，不断向智能化和多样化方向发展。具体而言，表现在如下几个方面：
1)．机器人操作机结构：
通过有限元分析、模态分析及仿真设计等现代设计方法的运用，实现机器人操作机构的优化设计。
探索新的高强度轻质材料，进一步提高负载/自重比。例如，以德国KUKA公司为代表的机器人公司，已将机器人并联平行四边形结构改为开链结构，拓展了机器人的工作范围，加之轻质铝合金材料的应用，大大提高了机器人的性能。此外采用先进的RV减速器及交流伺服电机，使机器人操作机几乎成为免维护系统。
机构向着模块化、可重构方向发展。例如，关节模块中的伺服电机、减速机、检测系统三位一体化；由关节模块、连杆模块用重组方式构造机器人整机；国外已有模块化装配机器人产品问市。
机器人的结构更加灵巧，控制系统愈来愈小，二者正朝着一体化方向发展。
采用并联机构，利用机器人技术，实现高精度测量及加工，这是机器人技术向数控技术的拓展，为将来实现机器人和数控技术一体化奠定了基础。意大利COMAU公司，日本FANUC等公司已开发出了此类产品。
英文原文出自《Advanced Technology Libraries》2008年第5期 Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration,
中英文资料对照外文翻译 最小化传感级别不确定性联合策略的机械手控制 摘要：人形机器人的应用应该要求机器人的行为和举止表现得象人。下面的决定和控制自己在很大程度上的不确定性并存在于获取信息感觉器官的非结构化动态环境中的软件计算方法人一样能想得到。在机器人领域，关键问题之一是在感官数据中提取有用的知识，然后对信息以及感觉的不确定性划分为各个层次。本文提出了一种基于广义融合杂交分类（人工神经网络的力量，论坛渔业局）已制定和申请验证的生成合成数据观测模型，以及从实际硬件机器人。选择这个融合，主要的目标是根据内部（联合传感器）和外部（ Vision 摄像头）感觉信息最大限度地减少不确定性机器人操纵的任务。目前已被广泛有效的一种方法论就是研究专门配置5个自由度的实验室机器人和模型模拟视觉控制的机械手。在最近调查的主要不确定性的处理方法包括加权参数选择（几何融合），并指出经过训练在标准操纵机器人控制器的设计的神经网络是无法使用的。这些方法在混合配置，大大减少了更快和更精确不同级别的机械手控制的不确定性，这中方法已经通过了严格的模拟仿真和试验。 关键词：传感器融合，频分双工，游离脂肪酸，人工神经网络，软计算，机械手，可重复性，准确性，协方差矩阵，不确定性，不确定性椭球。 1 引言 各种各样的机器人的应用（工业，军事，科学，医药，社会福利，家庭和娱乐）已涌现了越来越多产品，它们操作范围大并呢那个在非结构化环境中运行 [ 3,12,15]。在大多数情况下，如何认识环境正在发生变化且每个瞬间最优控制机器人的动作是至关重要的。移动机器人也基本上都有定位和操作非常大的非结构化的动态环境和处理重大的不确定性的能力[ 1,9,19 ]。每当机器人操作在随意性自然环境时，在给定的工作将做完的条件下总是存在着某种程
附录外文文献 原文 Industrial Robots Definition “A robot is a reprogrammable,multifunctional machine designed to manipulate materials,parts,tools,or specialized devices,through variable programmed motions for the performance of a variety of tasks.” --Robotics Industries Association “A robot is an automatic device that performs functions normally ascribrd to humans or a machine in orm of a human.” --Websters Dictionary The industrial robot is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of radiation . The industrial robot can also operate on the assembly line , putting together small components , such as placing electronic components on a printed circuit board . Thus , the human worker can be relieved of the routine operation of this tedious task . Robots can also be programmed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society . The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will perform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off . The basic terminology of robotic systems is introduced in the following :
中英文对照资料外文翻译文献 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
一款使用离合器连接类型的内窥管道机器人 摘要-这篇论文展示了一款使用离合器的新型内窥管道机器人，用于直径小于或等于100mmde 管道内窥。这款机器人拥有三条驱动轴，且每条驱动轴各有一个离合器，离合器的设计依据平行联动原理。内窥管道机器人牢固的模型机构已经过驱动，原型机也被制作出来。机器人系统已经过一系列的仿真软件模拟和实验验证。 1.简介 管内机器人经过漫长的发展，根据运动模型可分为几种基本类型，比如轮驱动、蠕动、自动足、螺旋驱动、爬行、PIG和惰性运行等类型。在这些类型之中，轮式驱动应用最为广泛。在过去的十年时间间，机器人各式各样的驱动类型研究呈现井喷式增长。不同的驱动类型的机器人一般会有三个驱动轴，依靠单独控制各轴的速度，可以让机器人实现通过关节或者Ｔ型管道。而且这种类型机器人与轮式驱动、螺旋驱动和PIG等类型比较起来会有较大的可折叠区域，比较节省空间。 近来，随着小型化管道机器人市场的扩大，对直径小于100mm的管道机器人的关注同时愈来愈热。因为室内管道的清洁程度会直接影响到人的健康，因此，对室内管道的清洁与监测变得愈加重要，同时直径小于100mm的机器人也将主要用于室内管道清洁。机械装置使用的是平行连杆机构，有助于实现装置
减速功能。减速器与其他使用两个底板的典型减速器不同，第二部分将会详细介绍机器人系统的特征。第三部分将会讲解机构的运动学分析。机构的有效性将会通过软件仿真与实验验证，这些会在第四部分展示出来。最后，同时也是至关重要的是总结。 2.机器人特征 A机器人硬件设备及系统 如例1所示，机器人系统包括控制盒与机器人装备。根据模块化设置，控制盒与机器人硬件设备室分开的。 机器人硬件设备包含主体，三条链轮和如例2显示的三个离合轮部分。机器人长80mm,外扩至100mm。机械联动装置可确保制动功能的实现，这是因为装置有效避免了电磁制动器的缺点，比如滑移、电力不足以及规格限制。 例1.装备有机械离合装置的管道检测机器人系统 机器人装置可实现两种不同的操作模式：驱动模式与制动模式。驱动模式下的机器人会运行，制动模式会使机器人停止运行并且
外文翻译资料原文 学院 专业班级 学生姓名 指导教师
Robot Darrick Addison (dtadd95@https://www.doczj.com/doc/1e15690604.html,), Senior Software Engineer/Consultant, ASC Technologies Inc. 01 Sep 2001 "A re-programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." -- From the Robot Institute of America, 1979 Darrick Addison, an experienced developer in databases, networks, user interfaces, and embedded systems, introduces the field of robotics and the issues surrounding robotic systems. He covers mechanical design, sensory systems, electronic control, and software. He also discusses microcontroller systems, including serial and memory-mapped interfacing, and talks about some of the available open source software options. The word "robot" originates from the Czech word for forced labor, or serf. It was introduced by playwright Karel Capek, whose fictional robotic inventions were much like Dr. Frankenstein's monster -- creatures created by chemical and biological, rather than mechanical, methods. But the current mechanical robots of popular culture are not much different from these fictional biological creations. Basically a robots consists of: ? A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment ?Sensors on or around the device that are able to sense the environment and give useful feedback to the device ?Systems that process sensory input in the context of the device's current situation and instruct the device to perform actions in response to the situation In the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).
INTELLIGENT VEHICLE Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines. One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles 1.2 million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. In fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion. When hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system(ITS). Starting in the late 1990s, ITS systems were developed and deployed. In developed countries, travelers today have access to signifi-cant amounts of information about travel conditions, whether they are driving their own vehicle or riding on public transit systems. As the world energy crisis, and the war and the energy
外文翻译 专业机械电子工程 学生姓名张华 班级 B机电092 学号 05 指导教师袁健
外文资料名称：Research，design and experiment of end effector for wafer transfer robot 外文资料出处：Industrail Robot：An International Journal 附件： 1.外文资料翻译译文 2.外文原文
晶片传送机器人末端效应器研究、设计和实验 刘延杰、徐梦、曹玉梅 张华译 摘要：目的——晶片传送机器人扮演一个重要角色IC制造行业并且末端执行器是一个重要的组成部分的机器人。本文的目的是使晶片传送机器人通过研究其末端执行器提高传输效率,同时减少晶片变形。 设计/方法/方法——有限元方法分析了晶片变形。对于在真空晶片传送机器人工作,首先,作者运用来自壁虎的超细纤维阵列的设计灵感研究机器人的末端执行器,和现在之间方程机器人的交通加速度和参数的超细纤维数组。基于这些研究,一种微阵列凹凸设计和应用到一个结构优化的末端执行器。对于晶片传送机器人工作在大气环境中,作者分析了不同因素的影响晶片变形。在吸收面积的压力分布的计算公式,提出了最大传输加速度。最后, 根据这些研究得到了一个新的种末端执行器设计大气机器人。 结果——实验结果表明, 通过本文研究应用晶片传送机器人的转换效率已经得到显着提高。并且晶片变形吸收力得到控制。 实际意义——通过实验可以看出,通过本文的研究,可以用来提高机器人传输能力, 在生产环境中减少晶片变形。还为进一步改进和研究末端执行器打下坚实的基础,。 创意/价值——这是第一次应用研究由壁虎启发了的超细纤维阵列真空晶片传送机器人。本文还通过有限元方法仔细分析不同因素在晶片变形的影响。关键词：晶片传送机器人末端执行器、超细纤维数组、晶片 1.介绍
译文资料： 机器人 首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么随着人类的发展，人们在不断探讨自然过程中，在认识和改造自然过程中，需要能够解放人的一种奴隶。那么这种奴隶就是代替人们去能够从事复杂和繁重的体力劳动，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。 机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个力操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种从第一代机器人，也就存在它这种缺陷，因此，在20世纪70年代后期，人们开始研究第二代机器人，叫带感觉的机器人，这种带感觉的机器人是类似人在某种功能的感觉，比如说力觉、触觉、滑觉、视觉、听觉和人进行相类比，有了各种各样的感觉，比方说在机器人抓一个物体的时候，它实际上力的大小能感觉出来，它能够通过视觉，能够去感受和识别它的形状、大小、颜色。抓一个鸡蛋，它能通过一个触觉，知道它的力的大小和滑动的情况。第三代机器人，也是我们机器人学中一个理想的所追求的最高级的阶段，叫智能机器人，那么只要告诉它做什么，不用告诉它怎么去做，它就能完成运动，感知思维和人机通讯的这种功能和机能，那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义，但真正完整意义的这种智能机器人实际上并没有存在，而只是随着我们不断的科学技术的发展，智能的概念越来越丰富，它内涵越来越宽。 下面我简单介绍一下我国机器人发展的基本概况。由于我们国家存在很多其
A SIMPLE ARCHITECTURE FOR IN-PIPE INSPECTION ROBOTS Mihaita HORODINCA, Ioan DOROFTEI, Emmanuel MIGNON, André PREUMONT Active Structures Laboratory UNIVERSITE LIBRE DE BRUXELLES Av. F. D. Roosevelt 50, cp 165/42, Brussels, Belgium Phone: (32)2-6504663 Fax: (32)2-6504660 e-mail: andre.preumont@ulb.ac.be Abstract: The paper presents an original robot architecture for in-pipe inspection. The robot consists of two parts articulated with a universal joint. One part is guided along the pipe by a set of wheels moving parallel to the axis of the pipe, while the other part is forced to follow an helical motion thanks to tilted wheels rotating about the axis of the pipe. A single motor is placed between the two bodies to produce the motion. All the wheels are mounted on a suspension to accommodate for changing tube diameter and curves in the pipe. The robot is autonomous and carries its own batteries and radio link. Four different prototypes have been constructed for pipe diameters of 170, 70 and 40 mm, respectively. For smaller diameters, the batteries and the radio receiver may be placed on an additional body attached to the others. The autonomy of the prototypes is about 2 hours. This architecture is very simple and the rotary motion can be exploited to carry out scrubbing or inspection tasks. Keywords: Autonomous mobile robot, In-pipe inspection, Helical motion Introduction Pipe inspection robots have been studied for a long time, and many original locomotion concepts have been proposed to solve the numerous technical difficulties associated with the change in pipe diameter, curves and energy supply. Although an exhaustive review of the literature is impossible due to the limited space available, a few broad categories can be identified: (i) For small size, many projects follow the earthworm principle consisting of a central part moving axially while the two end parts are provided with blocking devices connected temporarily to the pipe. Pneumatic versions of this concept have been proposed (e.g. [1]), but they require an umbilical for power. For smaller diameter (10 mm or less), a piezoelectric actuation has been considered, according to the inchworm principle, or according to an inertial locomotion driven by a saw-tooth wave voltage [2], or using vibrating fins with differential friction coefficients [3]. (ii) For medium size piping, classical electromechanical systems have been proposed with various architectures involving wheels and tracks, with more or less complicated kinematical structures, depending on the diameter adaptability and turning capability (e.g. [4,5]). (iii) For large pipes, walking tube crawlers have also been proposed [6].
多自由度步行机器人 摘要在现实生活中设计一款不仅可以倒下而且还可以站起来的机器人灵活智能机器人很重要。本文提出了一种两臂两足机器人,即一个模仿机器人,它可以步行、滚动和站起来。该机器人由一个头,两个胳膊和两条腿组成。基于远程控制,设计了双足机器人的控制系统,解决了机器人大脑内的机构无法与无线电联系的问题。这种远程控制使机器人具有强大的计算头脑和有多个关节轻盈的身体。该机器人能够保持平衡并长期使用跟踪视觉,通过一组垂直传感器检测是否跌倒,并通过两个手臂和两条腿履行起立动作。用实际例子对所开发的系统和实验结果进行了描述。 1 引言随着人类儿童的娱乐,对于设计的双足运动的机器人具有有站起来动作的能力是必不可少。 为了建立一个可以实现两足自动步行的机器人,设计中感知是站立还是否躺着的传感器必不可少。两足步行机器人它主要集中在动态步行,作为一种先进的控制问题来对待它。然而,在现实世界中把注意力集中在智能反应,更重要的是创想,而不是一个不会倒下的机器人,是一个倒下来可以站起来的机器人。 为了建立一个既能倒下又能站起来的机器人,机器人需要传感系统就要知道它是否跌倒或没有跌倒。虽然视觉是一个机器人最重要的遥感功能,但由于视觉系统规模和实力的限制,建立一个强大的视觉系统在机器人自己的身体上是困难的。如果我们想进一步要求动态反应和智能推理经验的基础上基于视觉的机器人行为研究,那么机器人机构要轻巧足以够迅速作出迅速反应,并有许多自由度为了显示驱动各种智能行为。至于有腿机器人,只有一个以视觉为基础的
小小的研究。面临的困难是在基于视觉有腿机器人实验研究上由硬件的显示所限制。在有限的硬件基础上是很难继续发展先进的视觉软件。为了解决这些问题和推进基于视觉的行为研究,可以通过建立远程脑的办法。身体和大脑相连的无线链路使用无线照相机和远程控制机器人,因为机体并不需要电脑板,所以它变得更加容易建立一个有许多自由度驱动的轻盈机身。 在这项研究中,我们制定了一个使用远程脑机器人的环境并且使它执行平衡的视觉和起立的手扶两足机器人,通过胳膊和腿的合作,该系统和实验结果说明如下。图 1 远程脑系统的硬件配置图 2 两组机器人的身体结构 2 远程脑系统 远程控制机器人不使用自己大脑内的机构。它留大脑在控制系统中并且与它用无线电联系。这使我们能够建立一个自由的身体和沉重大脑的机器人。身体和大脑的定义软件和硬件之间连接的接口。身体是为了适应每个研究项目和任务而设计的。这使我们提前进行研究各种真实机器人系统。 一个主要利用远程脑机器人是基于超级并行计算机上有一个大型及重型颅脑。虽然硬件技术已经先进了并拥有生产功能强大的紧凑型视觉系统的规模,但是硬件仍然很大。摄像头和视觉处理器的无线连接已经成为一种研究工具。远程脑的做法使我们在基于视觉机器人技术各种实验问题的研究上取得进展。 另一个远程脑的做法的优点是机器人机体轻巧。这开辟了与有腿移动机器人合作的可能性。至于动物,一个机器人有 4 个可以行走的四肢。我们的重点是基于视觉的适应行为的4肢机器人、机械动物,在外地进行试验还没有太多的研究。 大脑是提出的在母体环境中通过接代遗传。大脑和母体可以分享新设计
Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission