robot
History
"SuiShu"oncerecordedthestoryofarobot:"...Theemperorstillhatesnightsummons,soheorderedthecraftsmantocarvepuppets,implementorgans,andbeabletositup.Worship,taketheimageto抃.Whentheemperormeetsthewineunderthemoon,hewillputthepalacepeopleinthetable,entertaineachother,andlaugh."
——WhenYangGuangdidnotascendthethrone,HebecamefriendswiththescribeLiuBian,andafterhebecamethethrone,therelationshipbecamestronger.It'sapitythatitwasalwaysinappropriatetocallLiuBianintotheinnerpartofZiweiCityinthemiddleofthenight.YangGuanghadnochoicebutto"hopetheplumtoquenchhisthirst"andorderedsomeonetomakeapuppetjustlikeLiuBian.Thepuppetwasabletositandstandandknockhishead.YangGuangxingcame,andlaughedatthepuppetMoonlight.
Definition
In1920,CzechwriterKarelCapek(KarelCapek)publishedthesciencefictionscript"Rosam'sUniversalRobot".Inthescript,KepekwrotetheCzechword"Robota"as"Robot","Robota"meansslave.Theplayforetellsthetragicimpactofthedevelopmentofrobotsonhumansociety,arouseswidespreadattention,andisregardedastheoriginoftheterm"robot".Intheplay,therobotworkssilentlyinaccordancewiththeordersofitsowner,withoutfeelingsandemotions,andengagesinheavylaborinadullmanner.Later,Rosam'ssuccessmadetherobothaveemotions,whichledtoarapidincreaseintheapplicationdepartmentofrobots.Infactoriesandhousework,robotshavebecomeindispensablemembers.Therobotfoundthathumanbeingswereveryselfishandunjust,andfinallyrebelled.Therobot'sphysicalandintelligenceareverygood,soitwipedouthumanbeings.Butrobotsdidnotknowhowtomakethemselves,thinkingthattheywouldsoonbecomeextinct,sotheystartedlookingforhumansurvivors,buttonoavail.Finally,apairofmaleandfemalerobotswithbetterperceptionthanotherrobotsfellinlove.Atthistime,robotsevolvedintohumans,andtheworldcamebacktolife.
Kepeckraisedtheissueofrobotsafety,perceptionandself-reproduction.Advancesinscienceandtechnologyarelikelytocauseproblemsthathumansdonotwant.Althoughtheworldofsciencefictionisonlyanimagination,humansocietymayfacethisreality.
Inordertopreventrobotsfromharminghumans,sciencefictionwriterAsimovputforwardthe"ThreePrinciplesofRobots"inthebookIamaRobotin1950:
①RobotsItmustnotharmhumans,norallowittostandbywhileseeinghumansbeinghurt;
②Robotsmustobeyhumanorders,unlessthehumanorderviolatesthefirstone;
③Therobotmustprotectitselffromharm,unlessthisiscontrarytotheabovetwoitems.
Thesethreeprinciplesgivenewethicstotherobotsociety.Sofar,itwillstillprovideverymeaningfulguidelinesforroboticsresearchers,designmanufacturersandusers.
AttheFirstRoboticsConferenceheldinJapanin1967,peopleputforwardtworepresentativedefinitions.OneiswhatMoriMasahiroandAidaZhouheiputforward:"Arobotisaflexiblemachinewithsevencharacteristics:mobility,individuality,intelligence,versatility,semi-mechanicalandsemi-human,automatic,andslave."Startingfromthisdefinition,MoriMasahiroputsforward10characteristicsofrobots,includingautomation,intelligence,individuality,cyborgandcyborg,operability,versatility,information,flexibility,finiteness,andmobility.Image;theotherisproposedbyIchiroKato.Amachinewiththefollowingthreeconditionscanbecalledarobot:
①Individualwiththethreeelementsofbrain,hands,andfeet;
②Ithasnon-contactsensors(receivingremoteinformationwitheyesandears)andcontactsensors;
③Sensorswithbalanceandinherentsensation.
Thisdefinitionemphasizesthatrobotsshouldhavehuman-likecharacteristics,thatis,theyrelyonhandstoperformoperations,relyonfeettoachievemovement,andthebraincompletesthetaskofunifiedcommand.Non-contactsensorsandcontactsensorsareequivalenttothefivesensesofaperson,allowingtherobottorecognizetheexternalenvironment,whilethesenseofbalanceandinherentsensearesensorsthatareindispensablefortherobottoperceiveitsownstate.
UnitedStates
RobotIndustryAssociation
Robotsareusedtomovevariousmaterials,parts,toolsorspecialdevices,andperformvariousAmulti-functionoperatingmachinewithvarioustasksandprogrammingcapabilities.
Japan
IndustrialRobotAssociation
Arobotisauniversalrobotwithamemorydeviceandendeffectorthatcanreplacehumanlaborthroughautomatedactions.machine.
InternationalOrganizationforStandardization
DefinitionofRobots
Arobotisamachinethatcanperformtaskssuchasworkormovementthroughprogrammingandautomaticcontrol.
China
Thedefinitionofrobots
Arobotisanautomatedmachine,thedifferenceisthatthismachinehassomeintelligencesimilartohumansorlivingthingsAbility,suchasperceptionability,planningability,movementabilityandcoordinationability,isanautomatedmachinewithahighdegreeofflexibility.
Aspeopledeepentheirunderstandingoftheintelligentnatureofrobotics,roboticshasbeguntocontinuouslypenetrateintoallareasofhumanactivities.Combiningtheapplicationcharacteristicsofthesefields,peoplehavedevelopedavarietyofspecialrobotsandvariousintelligentrobotswithperception,decision-making,actionandinteractioncapabilities.Althoughthereisnostrictandaccuratedefinitionofrobots,wehopetohavesomegraspofthenatureofrobots:robotsaremechanicaldevicesthatautomaticallyperformwork.Itcanaccepthumancommand,runpre-arrangedprograms,oractaccordingtoprinciplesandprogramsformulatedwithartificialintelligencetechnology.Itsmissionistoassistorreplacehumanwork.Itisaproductofadvancedintegratedcybernetics,mechatronics,computers,materials,andbionics,andhasimportantusesinindustry,medicine,agriculture,service,construction,andevenmilitaryfields.
Classification
Asfortheclassificationofrobots,thereisnounifiedinternationalstandard,andtherecanbedifferentclassificationsfromdifferentperspectives.
Thedevelopmentstageofrobots
①Thefirstgenerationofrobots:teachingandreproducingrobots.In1947,inordertotransportandprocessnuclearfuel,theOakRidgeNationalLaboratoryintheUnitedStatesdevelopedtheworld'sfirstremote-controlledrobot.In1962,theUnitedStatessuccessfullydevelopedthePUMAuniversalteachingreproductionrobot.Thisrobotcontrolsamulti-degree-of-freedommachinethroughacomputer,storesprogramsandinformationthroughteaching,readstheinformationwhileworking,andthenissuesinstructions.Inthisway,therobotcanrepeatedlyreproducethiskindofactionbasedontheresultsoftheteachingatthetime.Forexample,aspotweldingrobotforacar,aslongasitteachesthespotweldingprocess,italwaysrepeatsthiskindofwork.
②Thesecondgenerationofrobots:sensoryrobots.Theteachingreproductionrobothasnoperceptionoftheexternalenvironment.Themagnitudeoftheoperatingforce,thepresenceorabsenceoftheworkpiece,andthequalityofweldingarenotknowntoit.Therefore,inthelate1970s,peoplebegantostudythesecondgeneration.Robotsarecalledsensoryrobots.Thiskindofrobothasasenseoffunctionsimilartothatofhumans,suchasforce,touch,sliding,sight,hearing,etc.Itcanfeelandrecognizetheshape,size,andcoloroftheworkpiecethroughsense.
③Thethirdgenerationofrobots:intelligentrobots.Robotsinventedsincethe1990s.Thiskindofrobotisequippedwithavarietyofsensors,whichcancarryoutcomplexlogicalreasoning,judgmentanddecision-making,andindependentlydetermineitsownbehaviorinthechanginginternalstateandexternalenvironment.
Controlmethod
①Operationalrobot:canbeautomaticallycontrolled,canbereprogrammed,multi-function,hasseveraldegreesoffreedom,canbefixedormoved,andusedinrelatedautomationsystems.
②Program-controlledrobot:Accordingtothepre-requiredsequenceandconditions,controlthemechanicalactionsoftherobotinsequence.
③Teachingreproductionrobot:Throughguidanceorothermethods,firstteachtherobottomove,entertheworkprogram,andtherobotwillautomaticallyrepeattheoperation.
④Numericalcontrolrobot:Itisnotnecessarytomaketherobotmove.Itteachestherobotthroughnumericalvalues,language,etc.,andtherobotperformsoperationsbasedontheteachinginformation.
⑤Sensory-controlledrobots:usetheinformationobtainedbysensorstocontroltheactionsoftherobot.
⑥Adaptablecontrolrobots:Robotscanadapttochangesintheenvironmentandcontroltheirownactions.
⑦Learning-controlledrobots:Robotscan"experience"workexperience,havecertainlearningfunctions,andusethe"learned"experienceintheirwork.
⑧Intelligentrobot:Arobotwhoseactionsaredeterminedbyartificialintelligence.
Applicationenvironment
Currently,roboticsscholarsintheworlddividerobotsintotwocategoriesbasedontheapplicationenvironment:industrialrobotsinmanufacturingenvironmentsandserviceandimitationinnon-manufacturingenvironments.Humanoidrobot.
Startingfromtheapplicationenvironment,robotexpertsinmycountrydividerobotsintotwocategories,namely,industrialrobotsandspecialrobots.Thisisconsistentwiththeinternationalclassification.Industrialrobotsrefertomulti-jointmanipulatorsormulti-degree-of-freedomrobotsorientedtotheindustrialfield.Specialrobotsareallkindsofadvancedrobotsusedinnon-manufacturingindustriesandservinghumansotherthanindustrialrobots,including:servicerobots,underwaterrobots,entertainmentrobots,militaryrobots,agriculturalrobots,etc.Amongthespecialrobots,somebrancheshavedevelopedrapidlyandhaveatendencytobecomeindependentsystems,suchasservicerobots,underwaterrobots,militaryrobots,andmicro-manipulationrobots.
Industrialrobotsaredividedintofourtypesaccordingtothemotionformofthearm.Therectangularcoordinatetypearmcanmovealongthreerectangularcoordinates;thecylindricalcoordinatetypearmcanperformlifting,rotatingandtelescopicactions;thesphericalcoordinatetypearmcanrotate,pitchandextend;thearticulatedarmhasmultipleRotatethejoints.
Accordingtothecontrolfunctionoftheactuatormovement,industrialrobotscanbedividedintopointtypeandcontinuoustrajectorytype.Thepoint-positiontypeonlycontrolstheaccuratepositioningoftheactuatorfromonepointtoanother,andissuitableforloadingandunloading,spotwelding,generalhandling,loadingandunloadingofmachinetools;thecontinuous-tracktypecancontroltheactuatortomoveaccordingtoagiventrajectory,whichissuitableforcontinuousweldingandPaintingandotheroperations.
Industrialrobotsaredividedintotwotypes:programminginputtypeandteachinginputtypeaccordingtotheprograminputmode.TheprogramminginputtypeistotransfertheprogramfilethathasbeencompiledonthecomputertotherobotcontrolcabinetthroughcommunicationmethodssuchasRS-232serialportorEthernet.Therearetwoteachingmethodsfortheteachinginputtype:oneisthattheoperatorusesamanualcontroller(teachingcontrolbox)totransmitthecommandsignaltothedrivesystem,sothattheactuatorcanperformtherequiredactionsequenceandmotiontrajectoryagain.;Theotheristhattheoperatordirectlyleadstheactuatorandperformsitagaininaccordancewiththerequiredactionsequenceandmotiontrajectory.Duringtheteachingprocess,theinformationoftheworkingprogramisautomaticallystoredintheprogrammemory.Whentherobotisautomaticallyworking,thecontrolsystemdetectsthecorrespondinginformationfromtheprogrammemory,andtransmitsthecommandsignaltothedrivemechanismtomaketheactuatorreproducetheteachingVariousactions.Anindustrialrobotthatteachesinputprogramsiscalledateachingreproductiontypeindustrialrobot.
Movementform
Classifiedaccordingtothemovementformoftherobot | Features | Schematicdiagram |
Cartesiancoordinaterobot | ThecontourofthisrobotissimilartothatofaCNCboringandmillingmachineoracoordinatemeasuringmachine,asshowninthefigureShownin1-1.Thethreejointsareallmovingjoints,andthejointaxesareperpendiculartoeachother,whichareequivalenttothex,y,andzaxesoftheCartesiancoordinatesystem.Itismainlyusedforloadingandunloadingofproductionequipment,andcanalsobeusedforhigh-precisionloadingandunloadingandinspectionoperations.Themainfeaturesofthisformareasfollows. a.Thestructureissimple,intuitive,andrigid.Mostofthemaremadeintolargegantryorframerobots. b.Themotionsofthe3jointsareindependentofeachother,thereisnocoupling,thekinematicssolutionissimple,andnosingularstateisgenerated.Afteradoptinglinearrollingguide,thespeedandpositioningaccuracyarehigh. c.Theloadingandunloadingofworkpiecesandtheinstallationoffixturesarerestrictedbycolumns,beamsandothercomponents. d.Easytoprogramandcontrol,thecontrolmethodissimilartoCNCmachinetools. e.Therailsurfaceprotectionismoredifficult.Theinertiaofthemovingpartsisrelativelylarge,whichincreasesthesizeandenergyconsumptionofthedrivingdevice,andtheoperationflexibilityispoor. | |
CylindricalcoordinatesTyperobot | AsshowninFigure1-2,thisrobotusesθ,zandrasparameterstoformacoordinatesystem.ThepositionofthewristreferencepointcanbeexpressedasP=f(θ,z,r).Amongthem,ristheradiallengthofthearm,θistheangulardisplacementofthearmaroundthehorizontalaxis,andzistheheightontheverticalaxis.Ifrdoesnotchange,themovementoftheoperatingarmwillformacylindricalsurface,andthespatialpositioningisrelativelyintuitive.Aftertheoperatingarmisretracted,itsrearendmaycollidewithotherobjectsintheworkingspace,anditisnoteasytoprotectthemovingjoints. | |
Ball(Polar)coordinaterobot | AsshowninFigure1-3,themaximumtrajectorysurfaceformedbythemovementofthewristreferencepointisapartofasphericalsurfacewitharadiusofr,withθ,φandrarecoordinates,andanypointcanbeexpressedasP=f(θ,φ,r).Thistypeofrobothasasmallfootprint,alargeworkingspace,andmobilejointsarenoteasytoprotect. | |
FlatdoubleArticulatedrobot(selectivecomplianceassemblyrobotarm,SCARA) | TheSCARArobothas3rotatingjoints,theaxesofwhichareparalleltoeachother,andarepositionedandorientedintheplane.TheotherjointItisamobilejointusedtocompletethemovementoftheendpieceperpendiculartotheplane.Thepositionofthewristreferencepointisdeterminedbytheangulardisplacementφ1,φ2ofthetworotaryjointsandthedisplacementzofthemovingjoint,thatis,P=f(φ1,φ2,z),asshowninFigure1-4.Thiskindofrobothasalightstructureandquickresponse.Forexample,themovementspeedoftheAdeptISCARArobotcanreach10m/s,whichisseveraltimesfasterthanthegeneralarticulatedrobot.Itismostsuitableforflatpositioningandassemblyoperationsintheverticaldirection. | |
JointtypeRobot | Thistypeofrobotispositionedby2shoulderjointsand1elbowjoint,andorientatedby2or3wristjoints.Amongthem,oneshoulderjointrotatesaroundaverticalaxis,andtheothershoulderjointrealizespitch.Theaxesofthetwoshoulderjointsareorthogonal,andtheelbowjointisparalleltotheaxisofthesecondshoulderjoint,asshowninFigure1-5.Thisconfigurationhasflexiblemovements,largeworkingspace,minimalarminterferenceintheworkingspace,compactstructure,smallfootprint,andeasysealinganddust-proofingoftherelativemovingpartsonthejoints.Thekinematicsofthiskindofrobotismorecomplicated,anditisdifficulttoreversethekinematics.Itisnotintuitivetodeterminethepostureoftheend-pieceactuator,andtheamountofcalculationisrelativelylargewhencontrolling. |
Mobility
Canbedividedintosemi-mobileTyperobots(thewholerobotisfixedinacertainposition,onlypartofwhichcanmove,suchasmanipulators)andmobilerobots.
Withthecontinuousdevelopmentofrobots,peoplehavefoundthatrobotsfixedinacertainpositioncannotfullymeettheneedsofallaspects.Therefore,inthelate1980s,manycountriescarriedoutresearchonmobilerobottechnologyinaplannedway.Theso-calledmobilerobotisarobotthathasahighdegreeofautonomousplanning,self-organization,andself-adaptation,andissuitableforworkinginacomplexunstructuredenvironment.Itcombinescomputertechnology,informationtechnology,communicationtechnology,microelectronicsandRobotics,etc.Mobilerobotshavemobilefunctionsandaremoremaneuverablethangeneralrobotsintermsofreplacingpeopleindangerousandharsh(suchasradiation,toxic,etc.)operationsandinunmatched(suchasspace,underwater,etc.)environments.,flexibility.
(6)Classifiedaccordingtothewaytherobotmoves
Itcanbedividedintowheeledmobilerobots,walkingmobilerobots(single-legged,double-leggedandmulti-legged),crawlerTypesofmobilerobots,crawlingrobots,creepingrobotsandswimmingrobots.
(7)Classificationaccordingtothefunctionandpurposeofrobots
Canbedividedintomedicalrobots,militaryrobots,marinerobots,handicappedrobots,cleaningrobots,andpipelineinspectionrobots.
(8)Accordingtotherobot'sworkingspaceclassification
Itcanbedividedintolandindoormobilerobots,landoutdoormobilerobots,underwaterrobots,unmannedaircraftandspacerobots.
Technicalparameters
Technicalparametersarethetechnicaldataprovidedbytherobotmanufacturerwhentheproductissupplied.Differentrobotshavedifferenttechnicalparameters,andthetechnicalparameteritemsprovidedbyvariousmanufacturersanduserrequirementsarenotexactlythesame.However,themaintechnicalparametersoftherobotshouldgenerallyinclude:degreeoffreedom,positioningaccuracyandrepeatpositioningaccuracy,workingrange,maximumworkingspeed,carryingcapacity,etc.
Degreeoffreedom
Thedegreeoffreedomreferstothenumberofindependentcoordinateaxismovementsoftherobot,excludingthedegreeoffreedomofopeningandclosingofthegripper(endmanipulator).Ittakes6degreesoffreedomtodescribetheposeofanobjectinthree-dimensionalspace.However,thedegreeoffreedomoftherobotisdesignedaccordingtoitspurpose,whichmaybelessthan6degreesoffreedom,ormorethan6degreesoffreedom.Forexample,theA4020typeassemblyrobothas4degreesoffreedomandcanplugelectronicdevicesontheprintedcircuitboard;thePUMA562typerobothas6degreesoffreedomandcanperformarcweldingoperationsoncomplexspatialcurvedsurfaces.Fromthekinematicspointofview,arobotwithredundantdegreesoffreedomwhencompletingaspecifictaskiscalledaredundantdegreeoffreedomrobot,orsimplyaredundantdegreerobot.Forexample,thePUMA562robotbecomesaredundantrobotwhenitperformsthetaskofpluggingelectronicdevicesontheprintedcircuitboard.Theuseofredundantdegreesoffreedomcanincreasetheflexibilityoftherobot,avoidobstaclesandimprovedynamicperformance.Humanarms(bigarms,forearms,wrists)have7degreesoffreedom,sotheyworkverydexterously.Thehandscanavoidobstaclesandreachthesamedestinationfromdifferentdirections.
Mostrobotsaregenerallyopen-chainmechanisms,buttheymayincludepartialclosed-loopmechanisms.Theclosed-loopmechanismcanincreasetherigidity,butlimitstherangeofmotionofthejoints,thusreducingtheworkingspace.
Positioningaccuracyandrepeatpositioningaccuracy
Therobotaccuracyincludespositioningaccuracyandrepeatpositioningaccuracy.Thepositioningaccuracyreferstothedifferencebetweentheactualarrivalpositionoftherobothandandthetargetposition.Repeatedpositioningaccuracyreferstotheabilityoftherobottorepeatedlypositionitshandsatthesametargetposition,whichcanberepresentedbythestatisticofstandarddeviation.Itisameasureofthedensityofaseriesoferrorvalues,thatis,thedegreeofrepetition.
Thepositioningaccuracyoftherobotoperatingarmisdeterminedaccordingtotherequirementsofuse,andthepositioningaccuracyoftherobotoperatingarmitselfdependsonthepositioningmethod,movementspeed,controlmethod,armstiffness,drivingmethod,Buffermethodandotherfactors.
Differenttechnologicalprocesseshavedifferentrequirementsforrepeatedpositioningaccuracyoftherobotoperatingarm.ThepositioningaccuracyrequiredbydifferentprocessesisshowninTable2-1.
Table2-1Positioningaccuracyrequirementsofdifferentprocesses

Whenitisdifficultfortherobotoperatingarmtoreachtherequiredpositioningaccuracy,theauxiliarycanbeusedThemethodofassistingpositioningofthetoolandfixtureisthattherobotoperatingarmsendsthegraspedobjecttothetoolandfixtureforroughpositioning,andthenusestheclampingactionofthetoolandfixturetoachievethefinalpositioningoftheworkpiece.Thismethodcannotonlyensuretheprocessrequirements,butalsoreducethepositioningrequirementsoftherobotoperatingarm.
Workingrange
Workingrangereferstothecollectionofallpointsthatcanbereachedattheendoftherobotarmorthecenterofthewrist,alsocalledtheworkarea.Becausetheshapeandsizeoftheendeffectorarevarious,inordertotrulyreflectthecharacteristicparametersoftherobot,itreferstotheworkingareawhentheendeffectorisnotinstalled.Theshapeandsizeoftheworkingareaareveryimportant.Whentherobotisperformingacertaintask,itmaynotbeabletocompletethetaskbecauseofthedeadzone(deadzone)thatcannotbereachedbythehand.
Theworkingrangeoftherobotoperatingarmisdeterminedaccordingtotheprocessrequirementsandthetrajectoryoftheoperatingmotion.Thetrajectoryofanoperatingmotionisoftenacombinationofseveralactions.Whendeterminingtheworkingrange,themotiontrajectorycanbedecomposedintoasingleaction,andthemaximumstrokeoftherobotoperatingarmisdeterminedbythestrokeofasinglemotion.Inordertofacilitateadjustment,thestrokevaluecanbeappropriatelyincreased.Afterthemaximumstrokeofeachactionisdetermined,theworkingrangeoftherobotoperatingarmisalsodetermined.
Maximumworkingspeed
Usuallyreferstothemaximumspeedattheendoftherobotarm.Increasingspeedcanimproveworkefficiency.Therefore,itisveryimportanttoimprovetheaccelerationanddecelerationabilityoftherobotandensurethesmoothnessoftheaccelerationanddecelerationprocessoftherobot.
Carryingcapacity
Thecarryingcapacityreferstothemaximummassthattherobotcanbearinanyposturewithintheworkingrange.Theloadoftherobotnotonlydependsonthequalityoftheload,butalsoisrelatedtothespeedandaccelerationoftherobot.Forthesakeofsafety,thecarryingcapacityreferstothecarryingcapacityduringhigh-speedoperation.Generally,thecarryingcapacityshouldnotonlyconsidertheload,butalsothequalityoftherobotendmanipulator.
Motionspeed
Afterthemaximumstrokeofeachactionoftherobotormanipulatorisdetermined,thetimeofeachactioncanbeallocatedaccordingtotheworkrhythmrequiredforproduction,andthenthemotionspeedofeachactioncanbedetermined.Forexample,arobotoperatingarmneedstocompleteaseriesofactionssuchasclampingtheworkpiece,lifting,telescoping,androtatingthearmtocompletetheloadingprocessofacertainworkpiece.Theseactionsshouldbecompletedwithinthetimespecifiedbytheworkingcycle.Asforhowthetimeforeachactionshouldbeallocated,itdependsonmanyfactorsandcannotbedeterminedbygeneralcalculations.Itisnecessarytorepeatedlyconsidervariousfactors,andtrytomaketheallocationplanofeachaction,andthenmakeacomparisonandbalance.Whenthebeatisshorter,morecarefulconsiderationisrequired.
Thetotalactiontimeoftherobotarmshouldbelessthanorequaltotheworkingbeat.Iftwoactionsareperformedatthesametime,thecalculationshallbebasedonalongertime.Oncethemaximumstrokeandactiontimearedetermined,themovementspeedisalsodetermined.
Thefollowingrequirementsshouldbeconsideredwhenallocatingeachactiontime.
①Thegivenexercisetimeshouldbegreaterthantheexecutiontimeofelectricalandhydraulic(pneumatic)components.
②Thespeedoftelescopicmotionisgreaterthanthespeedofrotarymotion.Becausetheinertiaofrotarymotionisgenerallygreaterthantheinertiaoftelescopicmotion.Thetimeforthelifting,turningandtelescopicmovementoftherobotormanipulatorshouldbeallocatedaccordingtotheactualsituation.Iftheworkingcycleisshort,thetimeallocatedfortheaboveexerciseisshort,andthemovementspeedmustbeincreased.Butthespeedcannotbetoohigh,otherwiseitwillbringdifficultiestodesignandmanufacture.Undertheconditionofmeetingtherequirementsoftheworkingrhythm,alowermovementspeedshouldbeselectedasfaraspossible.Themovementspeedofarobotormanipulatorhasagreatrelationshipwitharmstrength,stroke,drivingmode,bufferingmode,andpositioningmode,andshouldbedeterminedaccordingtospecificconditions.
③Inthecaseofshortworkingtempoandmanymovements,severalmovementsareoftenperformedatthesametime.Forthisreason,thedrivesystemmusttakecorrespondingmeasurestoensurethesynchronizationofactions.
Application
Medicalindustry
Inthemedicalindustry,manydiseasescannotbetreatedbyoraltopicaldrugsalone.OnlythedrugsaredirectlyappliedtothelesionsorThetreatmenteffectcanonlybeachievedbyresectionofthelesion.Themostcommonlyusedmethodofmodernmedicaltreatmentissurgery.However,therearemanyextremelycomplexanddelicateandparticularlyfragilepartsofhumanphysiologicaltissues.Theaccuracyofhumanmanualoperationisnotenoughtosafelyhandlethelesionsintheseparts.However,thediseasesinthesepartsareverydangerous,ifnotintervened,theconsequencesareveryfatal.
Withthedevelopmentofscienceandtechnology,theseproblemshavebeengraduallysolved.Theadventofmicro-robotsprovidesasolutiontothisproblem.Thecomputingpowerandworkingabilityoftherobotcanberemotelycontrolled.Itstinyvolumecanenterhumanbloodvessels,andcantreatandcleanupthelesionswithoutcausingdamagetothehumanbody.Itcanalsofeedbacktheinternalconditionsofthehumanbodytotheoutsideworldinrealtime,whichisconvenientfordoctorstomaketimelyjudgmentsandformulatemedicalplans.Theexaminationandtreatmentofsomediseasescancausealotofpaintothepatient,suchasgastroscope,theuseofmicro-robotscancompletetheinternalhealthexaminationofthebodywithoutincreasingthesufferingofthepatient.Atpresent,thekeyfactorrestrictingthedevelopmentofmicro-robotsisthatthecostisveryexpensive,andthesearchforsubstitutesforraremetalswillbecomeanimportantdirectionforfuturedevelopment.
Militaryindustry
TheearliestapplicationofrobotstothemilitaryindustrybeganintheUnitedStatesduringWorldWarII.Inordertoreducecasualties,surveillancedroneswillbesenttothefrontbeforetheexecutionofcombatmissions.Enemysituation.Whenthetwoarmiesarefighting,itismuchmoreusefultobeabletounderstandtheenemy'smovementsfirstthansimplyincreasingthestrengthofthetroops.Withtheadvancementofscienceandtechnology,theapplicationofwarrobotsinthemilitaryfieldhasbecomemoreandmoreextensive,frominitialreconnaissanceanddetectiontocombatanddemolitionoperations.Usingunmannedaerialvehiclestocontroltheenemythousandsofmilesawayhasbecomethefirstchoiceformilitarystrategy.Thebombdisposalrobotcanaccuratelydetonatebombs,avoidingthecasualtiesofbombdisposalsoldiersinbattle.Havingacompletemilitaryrobotsystemhasgraduallybecomeanindispensablepartofthedevelopmentofamodernpower.
Educationindustry
Educationalrobotsareanemergingconcept.Overtheyears,theresearchdirectionoftechnologicaldevelopmentinthefieldofroboticshasbeenhowtoapplytheminlifetoreplacepeoplewithphysicalordangeroustasks.Educationalrobotsuserobotsasamediumtoeducatepeopleorprogramrobotstocompletelearninggoals.Asanemergingindustry,educationalrobotsaredevelopingveryrapidly.Itsmainformisanumberofrobotenlightenmenteducationstudios,teachingrobotassembly,debugging,programmingandcontroltodifferentgroupsofchildrentoyoungpeople.Largeeducationalrobotcompanieswillalsohostsomerobotcompetitionsfromelementaryschooltouniversitygroup,whichusuallyincludenarrow-footed,cross-footedarenas,andgymnasticsperformancecompetitions.Itplaysanextremelyimportantroleinthepromotionofrobots.
Productionandlife
Thefactorymanufacturingindustryhasalonghistoryofdevelopment.Initially,factoriesweredominatedbyhandicrafts,andlatergraduallydevelopedintoacombinationofhandworkandmachinetools.Thedemandforsupplyinmodernsocietyhasincreasinglyhigherrequirementsforproductivity,andfactorieshavealwaysbeendifficulttoovercometheproblemsoflaborcosts,especiallythemanagementandsafetyofthestaffarethemostdifficultproblems.Forsomeworkplacesthatproducetoxicandharmfulgases,dust,orsomeriskofexplosionandelectricshock,theroboticarmcanperformalmostallactionsinsteadofhumanhandsbyvirtueofagoodbionicstructure.Inordertoadapttolarge-scalemassproduction,scatteredroboticarmsaregraduallydevelopedandcombinedintoacompleteproductionline.Workersonlyneedtoperformsimpleoperations,sortingandpackaging,andallothertasksareautomaticallycompletedbytheproductionline.
Withthematurityoftechnology,therelationshipbetweenrobotsandpeople’sliveshasbecomecloserandcloser.Smarthomeshavebecomeaveryhottopicatthemoment.Sweepingrobotscanberegardedasthepioneersinthepromotionofsmarthomes.TheintroductionofroboticstechnologyintohousescanmakeLifeissaferandmorecomfortable,especiallyfortheelderlyandchildrenathome.Smarthomeandhousekeepingrobotscanautomaticallyadjustthemodeofoperationandensuresafety.
RobotIndustry
ThescaleofShanghai’srobotindustryhasreachedRMB6-7billion,rankingfirstinthecountry.ABB,FANUC,KUKA,Yaskawa,etc.,whichrankamongthetopfourinthefieldofroboticsintheworld,haveofficesinShanghai.ABB’sroboticsbusinessheadquartershassettledinShanghai,withanannualoutputof6,000robots.KUKA’snewplantinSongjiangstartedconstructionlastmonth,andtheproductioncapacityisexpectedtoreach5,000by2015.ShanghaiwillexpandtheintegrationandapplicationofrobotsystemsandmakeShanghaidevelopintomycountry'slargestrobotindustrybase,robotcoretechnologyresearchanddevelopmentcenter,high-endmanufacturingcenter,servicecenterandapplicationcenter.
RoboticsLaboratory
TheStateKeyLaboratoryofRobotics(StateKeyLaboratoryofRobotics)reliesontheShenyangInstituteofAutomation,ChineseAcademyofSciences,formerlytheOpenLaboratoryofRobotics,ChineseAcademyofSciences.ThelaboratoryisthefirstdepartmentalkeylaboratoryestablishedinthefieldofroboticsinChina.AcademicianJiangXinsong,awell-knownscientistinthefieldofroboticsinChina,servedasthelaboratorydirectorfrom1989to1997.Inthepasttwodecades,thelaboratoryhasdevelopedinparallelwiththeinternationaladvancedlevelintheresearchofbasictheoriesandmethodsofrobotics,andhasachievedanumberofimportantscientificresearchresultsinthefrontierexplorationanddemonstrationapplicationsofrobotics,whichfullydemonstratesthatthelaboratoryhasTheabilitytosolvemajornationalscientificandtechnologicalproblems.China's"SinsongRobot"companyinShenyangHunnanTechnologyDevelopmentZoneisChina'sbaseforthisscientificresearchfield.Theoveralllevelofroboticsresearchinthislaboratoryisatthecoreandleadingpositioninrelevantdomesticfields,andisanimportantroboticsresearchbaseathomeandabroad.
ThelaboratoryispositionedtoprovidetherequiredroboticsandsystemsforChina’seconomicandsocialdevelopment,nationalsecurityandmajorscientificprojects,tostudythebasictheoriesandmethodsofrobotics,todevelopfeasibletechnologiesandplatformprototypesystems,andtotrainAndgatherhigh-leveltalentsengagedinroboticsresearchtopromotethesustainabledevelopmentofChina'sadvancedroboticstechnologyandsystems.Mainlyforthedevelopmentofadvancedrobotsystemswithperception,thinkingandactionabilities,andresearchonthebasictheoreticalmethods,keytechnologies,robotsystemintegrationtechnologyandrobotapplicationtechnologyofrobotics.
Thelaboratoryinsistsonopeningtotheoutsideworld,attractingdomesticandforeignexpertsandscholarstocarryoutexchangesandcooperativeresearch.Throughtheestablishmentoffundedprojects,thelaboratoryhasestablishedcontactswithnearly30domesticuniversities,researchinstitutesandcompaniesengagedinroboticsresearch,coveringalmostalldomesticroboticsresearchunits.Basedonitsowndevelopmentdirection,thelaboratoryhasestablishedcooperativerelationswithwell-knownscientificresearchteamsathomeandabroadinatargetedmanner.Thesecooperationshaveplayedanimportantroleinstrengtheningthedisciplineconstructionofthelaboratory,understandingnationalneeds,andestablishingatargeteddemonstrationandverificationsystem.
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