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1、Unit5IntroductionIndustrialrobotsarerelativelynewelectromechanicaldevicesthatarebeginningtochangetheappearanceofmodernindustry.Industrialrobotsarenotlikethesciencefictiondevicesthatpossesshuman-likeabilitiesandprovidecompanionshipwithspacetravelers.Researcht
2、oenablerobotsto“see”,“hear”,“touch”,and“listen”hasbeenunderwayfortwodecadesandisbeginningtobearfruit.However,thecurrenttechnologyofindustrialrobotsissuchthatmostrobotscontainonlyanarmratherthanalltheanatomyahumanpossesses.Currentcontrolonlyallowsthesedevices
3、tomovefrompointtopointinspace,performingrelativelysimpletasks.TheRoboticsInstituteofAmericadefinesa工业机器人机电的虚构，想象陪伴（生物体）结构美国机器人学会arobotas“areprogrammablemultifunctionmanipulatordesignedtomovematerial,parts,tools,orotherspecializeddevicesthroughvariableprogram
4、medmotionsfortheperformanceofavarietyoftasks”.ANCmachiningcenterwouldbequalifiedasarobotifonecaninterpretdifferenttypesofmachiningasdifferentfunctions.MostmanufacturingengineersdonotconsideraNCmachiningcenterarobot,eventhoughthesemachineshaveanumberofsimilar
5、ities.ThepowerdriveandcontrollersofbothNCmachinesandrobotscanbequitesimilar.Robots,likeNCmachinescanbepoweredbyelectricalmotors,hydraulicsystems,orpneumaticsystems.Controlforeitherdevicecanbeeitheropen-looporclosed-loop.Infact,manyofthedevelopmentsusedinrobo
6、ticshaveevolvedfromtheNCindustry,andmanyofthemanufacturersofrobotsalsomanufactureNCmachinesorNCcontrollers.可再编程的机械手有资格的相似之处液压的气动的开环的闭环的演化，演变Aphysicalrobotisnormallycomposedofamainframe(orarm)withawristandsometooling(usuallysometypeofgripper)attheendofthefram
7、e.Anauxiliarypowersystemmayalsobeincludedwiththerobot.Acontrollerwithsometypeofteachpendant,joy-stick,orkey-padisalsopartofthesystem.AtypicalroboticsystemisshowninFig.5.1.Robotsareusuallycharacterizedbydesignofthemechanicalsystem.Arobotwhosemainframeconsists
8、ofthreelinearaxesiscalledaCartesianrobot.TheCartesianrobotderivesitsnamefromthecoordinatesystem.Travelnormallytakesplacelinearlyinthree-space.SomeCartesianrobotsareconstructedlikeagantrytominimi
