立体仓库--文献翻译

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1、重庆工学院毕业设计自动化立体仓库及堆垛机设计－立体仓库设计文献翻译IndustrialRobotsArobotisanautomaticallycontrolled,reprogrammable,multipurpose,manipulatingmachinewithseveralreprogrammableaxes,[1]whichmaybeeitherfixedinplaceormobileforuseinindustrialautomationapplications.Thekeywordsarereprogrammableandmultipurposebecausemost

2、single-purposemachinesdonotmeetthesetworequirements.Theterm“reprogrammable”impliestwothings:Therobotoperatesaccordingtoawrittenprogram,andthisprogramcanberewrittentoaccommodateavarietyofmanufacturingtasks.Theterm“multipurpose”meansthattherobotcanperformmanydifferentfunctions,dependingontheprog

3、ramandtoolingcurrentlyinuse.Overthepasttwodecades,therobothasbeenintroducedintoindustrytoperformmanymonotonousandoftenunsafeoperations.Becauserobotscanperformcertainbasictasksmorequicklyandaccuratelythanhumans,theyarebeingincreasinglyusedinvariousmanufacturingindustries.StructuresofRobotsThety

4、picalstructureofindustrialrobotsconsistsof4majorcomponents:themanipulator,theendeffector,thepowersupplyandthecontrolsystem,asshowninFig.17.1.Fig.17.1StructuresofRobotsThemanipulatorisamechanicalunitthatprovidesmotionssimilartothoseofahumanarm.Itoftenhasashoulderjoint,anelbowandawrist.Itcanrota

5、teorslide,stretchoutand5重庆工学院毕业设计自动化立体仓库及堆垛机设计－立体仓库设计文献翻译withdrawineverypossibledirectionwithcertainflexibility.Thebasicmechanicalconfigurationsoftherobotmanipulatorarecategorizedascartesian,cylindrical,sphericalandarticulated.Arobotwithacartesiangeometrycanmoveitsgrippertoanypositionwithinthe

6、cubeorrectangledefinedasitsworkingvolume.Cylindricalcoordinaterobotscanmovethegripperwithinavolumethatisdescribedbyacylinder.ThecylindricalcoordinaterobotispositionedintheworkareabytwolinearmovementsintheXandYdirectionsandoneangularrotationabouttheZaxis.Sphericalarmgeometryrobotspositionthewri

7、stthroughtworotationsandonelinearactuation.Articulatedindustrialrobotshaveanirregularworkenvelope.Thistypeofrobothastwomainvariants,verticallyarticulatedandhorizontallyarticulated.Theendeffectorattachesitselftotheendoftherobotwrist,also