工业机器人机械手外文翻译

外文翻译IntroductiontoRoboticsMechanicsandControl机器人学入门力学与控制系别：机械与汽车工程系专业名称：机械设计制造及其自动化学生姓名：郭仕杰学号：06101315指导教师姓名、职称：贺秋伟副教授完成日期2014年2月28日1IntroductiontoRoboticsMechanicsandControlAbstractThisbookintroducesthescienceandengineeringofmechanicalmanipulation.Thisbranchoftherobothasbeeninseveralclassicalfieldbased.Themainrelatedfieldssuchasmechanics,controltheory,computerscience.Inthisbook,Chapter1through8topicsrangingfrommechanicalengineeringandmathematics,Chapter9through11covercontroltheoryofmaterial,andtwelfthand13maybeclassifiedascomputersciencematerials.Inaddition,thisbookemphasizesthecomputationalaspectsoftheproblem;forexample,eachchapteritmainlymechanicalhasabriefsectioncalculation.Thisbookisusedtoteachtheclassnotesintroductiontorobotics,StanfordUniversityinthefallof1983to1985.Thefirstandsecondversionshavebeenthrough2002inusefrom1986institutions.Usingthethirdversioncanalsobenefitfromtherevisedandimprovedduetofeedbackfrommanysources.Thankstoallthosewhomodifiedtheauthor'sfriends.Thisbookissuitableforadvancedundergraduatesthefirstgradecurriculum.Ifstudentshavecontributedtothedynamicsandlinearalgebracourseinadvancedlanguageprograminabasiccourseofstatics.Inaddition,itishelpful,butnotabsolutelynecessary,letthestudentsfinishthecoursecontroltheory.Thepurposeofthisbookisasimpleintroductiontothematerial,intuitiveway.Specifically,doesnotneedtheaudiencemechanicalengineerstrict,althoughmuchofthematerialisfromthefield.AttheStanfordUniversity,manyelectricalengineers,computerscientists,mathematiciansfindthisbookveryreadable.Hereweonlyontheimportantparttoextract.Themaincontent1、BackgroundThehistoricalcharacteristicsofindustrialautomationispopularduringtheperiodofrapidchange.Eitherasacauseoraneffectofautomationtechnology,periodofthischangeiscloselylinkedtotheworldeconomy.Useofindustrialrobots,canbeidentifiedinauniquedevice1960's,withthedevelopmentofcomputeraideddesign(CAD)systemandcomputeraidedmanufacturing(CAM)system,thelatesttrends,automatedmanufacturingprocess.Thetechnologyistheleadingindustrialautomationthroughanothertransition,itsscopeisstillunknown.In2thenorthernAmerica,machineryandequipmentusedinearly80'softhe20thcentury,thelate80'softhe20thcenturyashortpull.Sincethen,themarketmoreandmore(Figure1.1),althoughitisaffectedbyeconomicfluctuations,allthemarket.Figure1.2showstherobotswereinstalledinalargenumberofannualworldindustrialzone.Notably,thenumberofJapan'sreportisdifferentfromotherareas:theycountthenumberofmachineofrobotinotherpartsoftheworldarenotconsideredrobot(instead,theywouldsimplybeconsideredfactorymachines).Therefore,thereportedfiguresfortheJapaneseexaggerated.Oneofthemainreasonforthegrowthintheuseofindustrialrobotsisthattheyarefallingcosts.Fig.1.3showsthat,inthelastcentury90'stenyears,robotpricesdroppedalthoughhumanlaborcosts.Atthesametime,therobotisnotonlycheaper,theybecomemoreeffectiveandfaster,moreaccurate,moreflexible.Ifwefactorthesequalityadjustedtothenumber,theuseofrobotstodecreasethecostofeventhantheirpricetagfaster.Morecost-effectiveintherobottheybecome,ashumanlabortobecomemoreexpensive,moreandmoreindustrialworkbecomerobotautomationcandidate.Thisisthemostimportanttrendtopromotetheindustrialrobotmarketgrowth.Thesecondtrendis,inadditiontotheeconomic,asrobotsbecomemorecanbecomemoretaskstheycando,mayhaveonhumanworkersengagedindangerousorimpossible.Industrialrobotsperformgraduallygetmorecomplex,butitisstill,in2000,about78%installationweldingormaterialhandlingrobotinUSArobot.Amorechallengingfield,industrialrobots,accountedfor10%unit.Thisbookfocusesonthedynamicsandcontrolofthemostimportantformsofindustrialrobot,manipulator.Whatistheindustrialrobotissometimesdebate.Equipment,asshowninFigure1.4isalwaysincluded,andCNCmillingmachine(NC)isusuallynot.Thedifferenceliesintheprogrammablecomplexplaceifamechanicaldevicecanbeprogrammedtoperformavarietyofapplications,itmaybeanindustrialrobot.Thisisthepartofalimitedclassoftasksareconsideredfixedautomation.Forthepurposeofthisdifference,donotneedtobediscussed;thebasicpropertiesofmostmaterialssuitableforvariousprogrammablemachine.Ingeneral,themechanicalandcontrolresearchofthemechanicalhandisnotanewscience,butacollectionofthethemefromtheclassicfield.Mechanicalengineeringhelpstomachinelearningmethodsforstaticanddynamicconditions.Themathematicaldescriptionofmovementofthetoolmanipulatorspacesupplyandotherattributes.Providedesignevaluationtooltorealizethemotionandforcethedesiredalgorithmcontroltheory.Electricalengineeringtechnologyappliedinthedesignofelectricalengineeringtechnologyforsensorappliedindesignandindustrialrobotinterfacesensor,areprogrammedtoperformtherequiredtaskofbasiccomputerscienceandtheequipment.Figures：3FIGURE1.1:ShipmentsofindustrialrobotsinNorthAmericainmillionsofUSdollarsFIGURE1.2:Yearlyinstallationsofmultipurposeindustrialrobotsfor1995-2000andforecastsfor2001-20044FIGURE1.3:Robotpricescomparedwithhumanlaborcostsinthe1990sFIGURE1.4:TheAdept6manipulatorhassixrotationaljointsandispopularinmanyapplications.CourtesyofAdeptTechnology,Inc.2、ControlofmechanicalarmInthest