机器人学基础-第9章-机器人应用-蔡自兴

中南大学蔡自兴，谢斌zxcai,[e-mail]2010机器人学基础第九章机器人应用1Ch.9RobotApplicationsFundamentalsofRobotics2Chapter9RobotApplications9.1FactorsConsideredinApplyingIndustrialRobots应用工业机器人考虑因素9.1.1EvaluatingTasksforRobots机器人的任务估计Itisdifficulttochoosetasksforrobotseffectivelywithoutathoroughunderstandingoftheapplicationsofrobot.Whenevaluatingtasks,weshoulddistinguishtheundergoingtasksandthoseshouldbecarriedoutbytherobot.Usingrobotscanprovideachancetoimprovetheproductivitysignificantlybychangingprocessvariables.Ch.9RobotApplications39.1.2ThreeKeyforApplyingRobots应用机器人三要素TechnicalBases（1）performancerequirement（2）configurationrequirement（3）productfeature（4）equipmentreplacement（5）processchange9.1FactorsConsideredinApplyingIndustrialRobots4EconomicReasonsthefactorsconsideredineconomicincluding:（1）labor（2）material（3）productivity（4）energy（5）equipment（6）cost9.1.2ThreeKeyforApplyingRobots9.1FactorsConsideredinApplyingIndustrialRobots5HumanFactors（1）operator（2）administratoranddepartment（3）maintainerandothersDateRecordingprovidearoughestimationofobservedapplicationprojects.9.1.2ThreeKeyforApplyingRobots9.1FactorsConsideredinApplyingIndustrialRobots69.1.3ThumbRulesforApplyingRobots使用机器人的经验准则Estes(VernonE.Estes)in1979,madeeightrulesfortheuseofrobots,knownasVernonrules,whichareasfollows:（1）Startingtherobotplansfrompoorconditions（2）Consideringtheapplicationofrobotsinthedepartmentwithlowproductivity.（3）Evaluatinglongtermneeds.（4）Makingworkingcostnottobeproportionaltothecostofrobots.（5）Strivingtosimplicityandeffectiveness.（6）Ensuringthesafetyofhumanandequipment（7）Don’texpectingsellerstoprovidefullturnkeyservices.（8）Don’tforgettingthatrobotneedshuman.9.1FactorsConsideredinApplyingIndustrialRobots79.1.4StepsforApplyingRobots采用机器人的步骤StepsforApplyingRobotsinproductionsystems:（1）Consideringallaspectsandmakingsuretheautomationrequirements,suchasimprovingproductivity,increaseoutputs,reducinglaborintensity,improvingworkingconditionsandsoon.（2）Establishingrobotplans,includingdetermineautoma-tionobjectives,trainingtechnician,preparingtheapproximatescheduleandsoon.（3）Discusstherequirementsofapplyingrobots.（4）Normalizingtheassistantoperationandtheperformanceoftherobots9.1FactorsConsideredinApplyingIndustrialRobots89.1.4StepsforApplyingRobotsStepsforApplyingRobotsinproductionsystems:（5）Designingtheprojectofrobotizationoperationsystem.（6）Choosesuitableevaluationcriterionforrobotsystem.（7）Detaileddesignandspecificimplementation.9.1FactorsConsideredinApplyingIndustrialRobots99.1.4StepsforApplyingRobotsGeneralstepsforrobotstobeusedinproductionsystemsFig.9.1StepsforApplyingRobots9.1FactorsConsideredinApplyingIndustrialRobots109.2ApplicationAreasofRobots机器人的应用领域9.2.1RobotsforIndustryComparedwiththetraditionalmachinerobot,ithastwomainadvantages：EntirelyautomatizationinproductionprocessItbringshighqualityproductionandwellqualitycontrol,andimprovetheabilitytoadapttheconstantlychanginguserneeds，soitwillimprovetheproductcompetitivenessinthemarket.StrongadaptabilityofproductionequipmentThedevicealsohastheabilitytoadapttofailures9.2ApplicationAreasofRobots119.2.1RobotsforIndustryRobotsforIndustrymainlyusedin:（1）AutomotiveIndustry（2）MachinebuildingandelectronicsIndustries(includingTelecommunicationsIndustry)（3）GeneralMechanicalIndustry（4）Architecture（5）Metalworking（6）FoundryIndustry（7）Others9.2ApplicationAreasofRobots12RobotsforIndustryclassifiedas：（1）MaterialsProcessing（2）Partsmanufacturing(including:forging,welding,brokenup,andcasting)（3）Producttesting(including:explicittest,implicittest)（4）Productassembly(including:materialsprocessing,on-linetesting,sparepartssupply,matchingagentssuchaspressureandtighteningprocesses)9.2.1RobotsforIndustry9.2ApplicationAreasofRobots139.2.2RobotsforExploration探索机器人RobotsforExploration（1）AutonomousRobotAutonomousrobotcanperformprogrammingtasksinharshenvironments.（2）RemoteControlRobotTheoperatorcontroltherobotinaharshenvironmenttocompletesometaskfromrelativelongdistanceaway.9.2ApplicationAreasofRobots9.2.2RobotsforExplorationTwomaintypesofrobotsforexplorationUnderwaterRobotAccordingtomovementmodes:（1）FloatingUnderwaterRobot（2）WalkingUnderwaterRobot（3）MobileUnderwaterRobotAccordingtopowersupplymodes:（1）CableUnderwaterRobot（2）WirelessUnderwaterRobot9.2ApplicationAreasofRobots14159.2.2RobotsforExplorationSpaceRobotThemaintaskofspacerobots:（1）Toexploreasapioneerinnon-humanlivingconditionssuchasthemoon,Marsandothersplanets.（2）InsteadofAstronautstocompletesatelliteservice,thespacestationserviceandtheexperimentunderspaceenvironment.9.2ApplicationAreasofRobots169.2.3RobotsforService服务机器人Definition1Robotforserviceisasemi-autonomousorfull-autonomousrobot，whichservicesforhumanhealth.Definition2Robotforservicecanbeseenasakindoffreeprogrammingmobiledevice,anditcanpartiallyorfullyautomaticcompleteservices.9.2ApplicationAreasofRobots179.2.3RobotsforServiceMedicalrobotsappliedtothefollowingaspects:（1）DiagnosisRobot（2）NursingRobot（3）DisabilityandParalysisRehabilitationRobot（4）HouseholdRobot（5）EntertainmentRobot（6）Medicalandsurgicalrobot9.2Appli