Lesson14industrialrobots分析.ppt

Lesson 14  industrial robots Introduction The word robot was coined in 1920 by the Czech author K.Capek in his play R.U.R.(Rossum’s Universal Robots), and is derived from the word robota, meaning worker. An industrial robot has been defined as a reprogrammable multifunctional manipulator, designed to move materials, parts, tools, or other specialized devices by means of variable programmed motions and to perform a variety of other tasks. In a broader context, the term robot also includes manipulators that are activated directly by an operator. Introduced in the early 1960’s, the first industrial robots were used in hazardous operations, such as handling toxic and radioactive materials and loading and unloading hot workpieces from furnaces and handling them in foundries. Some rule-of-thumb applications for robot are the three D’s (dull, dirty and dangerous, including demeaning but necessary tasks), and the three H’s (hot, heavy, and hazardous). From their early uses for worker protection and safety in manufacturing plants, industrial robots have been further developed and have become important components in manufacturing processes and systems. They have helped improve productivity, increase product quality, and reduce labor costs. Computer-controlled robots were commercialized in the early 1970’s; the first robot controlled by a minicomputer appeared in 1974. Components The basic components of an industrial robot are manipulators, end effectors, power supply, and control system. Manipulator Also called arm and wrist, the manipulator is mechanical unit that provides motions (trajectories) similar to that of a human arm and hand. The end of the wrist can reach a point in space with a specific orientation. There are three degrees of freedom each in linear and rotational movements, respectively. Manipulation is carried out using mechanical devices, such as linkages, gears, and various points. End effector the end of the wrist in a robot is equipped w