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Unit2IndustrialRobots工业机器人－－KR3工业机器人DialogueTopicalintroduction:TomandMaryarenowvisitinganindustrialrobotshowinauniversity.AyounggirlnamedMarcyisinchargeofshowingthevisitorsaround.Marcy:Ladiesandgentlemen,welcometoourindustrialrobotshow.I’mMarcyMargaret.Myjobistoshowyouaround.Youcanaskmeaboutanythingyoudonotunderstand.Mary:Howinterestingtoseesomanykindsofrobotshere.Excuseme,Marcy,butIwonderwhytheserobotsdonotlooklikenorbehavelikehumanbeings?Marcy:Ah,Isee.Thepointhereisthatwhatweshowyouarenototherkindsofrobotsbutindustrialones.Weneedn’tmakethemlooklikeushumans.Mary:Well,Iunderstand.Nowcouldyoutelluswhattheseindustrialrobotscandoforus?Marcy:Sure.Theserobotscandomanythingsforus.Theycanhelpus,forexample,tohandlematerials,spraypaint,rescuepeoplefromthefire,andevenhelptoexploredeepoceansandouter-space.Tom:Uh,howgreatrobotsare!Butwhatmakesrobotsabletoworkforussomarvelously?spraypainting喷涂marvelously奇迹般地,奇异地Marcy:It’snothingelsebutthecomputerprograms.Robotsareaprogrammablemechanicalmanipulator.Beingprogrammedwithhumaninstructions,theycanmovealongseveraldirectionsanddofactoryworkusuallydonebyhumanbeings.Mary:Oh,that’swonderful.Butwhat’sthedifferencebetweenrobotandmyhandycalculatorormyhomewashingmachine,nowthatallofthembelongtosomereprogrammablemechanicalmanipulator.programmablemechanicalmanipulator可编程机械装置Marcy:Okay,it’sacleverquestion.ButIthink,hereyoumixarobotwithanordinarywashingmachinebecauseyouforgetarobotcandoastand-aloneoperation,thatis,ratherindependentjobs,whileawashingmachinecan’t.So,whenwetalkaboutindustrialrobots,wemeanamachineordevice,whichissomethingreprogrammablewithitsownendeffector,whichcanperformafactorydutyinastand-alonemanner.Tom:Oh,Isee.Iguess,myautomaticwatchandmyhomewashingmachinecannotplaychesswithmewhilearobotcan.Marcy:That’sright.You’reacleverboy,Isee.依利达工业机器人KR3，KR180-1049TextIndustrialrobotsarebeginningnowtorevolutionizeindustry.Theserobotsdonotlookorbehavelikehumanbeings,buttheydotheworkofhumans.工业机器人现在正开始对工业进行一场革命。这些机器人的样子和行为方式不很像人，但它们干的是人类的工作。revolutionizev.革命，革命性变革Robotsareparticularlyusefulinawidevarietyofapplications,suchasmaterialhandling,spraypainting,spotwelding,archwelding,inspection,andassembly,currentresearcheffortsfocusoncreatinga“smart”robotthatcan“see”,“hear,”and“touch”andconsequentlymakedecisions.机器人在十分广泛多样的应用领域中具有特殊用途，例如进行材料搬运、喷涂、点焊、弧形焊接、检测、组装。当前对机器人的研究集中致力于建造“精明的”，集“视”、“听”和“触摸”等功能于一身并能由此作出决定的机器人。awidevarietyof广泛的sprayv.喷涂Thetechnologyofrobotsisrelatedto,butdifferssomewhatfrom,NCtechnologyinthatrobotseffecthighervelocityandmovementinmoreaxesofmotions.WhilewithNConlyapoint,namelytheendpointofthecutter,iscontrolledinthespace,withrobotsboththeendpointandorientationaremanipulated.Thisrequiresmoredegreesoffreedom,morepowerfulsoftware,andmoreeffectivecontrolalgorithms.机器人技术与数控技术有一定的关系，但与之不同之处在于机器人在更多轴向运动中产生更高的速率和运动。使用数控技术在一定空间内所控制的只是一个点，也就是刀具的端点。但对于机器人来说，要同时控制端点和方向，因此需要更多的自由度、功能更强大的软件，以及更为有效的控制算法。orientationn.方向，定位manipulatev.处理，操纵BasicconceptsinroboticsTheindustrialrobotisaprogrammablemechanicalmanipulator,capableofmovingalongseveraldirections,equippedatitsendwithadevicecalledtheend-effector,andperformsfactoryworkordinarilydonebyhumanbeings.机器人技术的基本概念工业机器人是一种可编程机械操纵装置，它能沿几个方向运动，其末端装有称作末端执行器装置，能从事通常情况下人类所进行的工厂作业。Thetermrobotisusedforamanipulatorthathasabuilt-incontrolsystemandiscapableofstand-aloneoperation.Webster’sdictionarydefinesarobotas“anymechanicaldeviceoperatedautomaticallytoperforminaseeminglyhumanway.”机器人这一术语就是用来称谓某种内置控制系统并能进行独立作业的机械手。韦氏辞典给机器人下的定义是：“任何以类人方式进行工作的、能自动运转的机械装置”。inaseeminglyhumanway以类人的方式Bythisdefinition,agaragedooropener,whichautomaticallyopensthedoorbyremotecontrolisalsoarobot.Obviouslythisisnotanindustrialrobot.TheRobotInstituteofAmerica(RIA)definestheindustrialrobotas“areprogrammablemulti-functionalmanipulatordesignedtomovematerial,parts,tools,orotherspecializeddevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyoftasks.”按此定义，通过遥控可自动开启车库大门的装置也称作机器人。显然，这种装置不能不能算工业机器人。美国机器人研究院将工业机器人定义为“设计用来移动材料、零件、工具或其他专用装置的可重复编程的多功能操纵器，它能通过各种编程动作进行多种作业。”Bythisdefinition,however,awashingmachineisalsoarobot.Thewashandrinsecyclesareprogrammableandthemachinemovesmaterialinrotarymotions.Therefore,adefinitionofanindustrialrobotmustincludethefollowingkeywords:programmablemanipulator,end-effector,factorywork,andstand-aloneoperation.然而根据这一定义，洗衣机同样也是一个机器人，因为清洗和漂净周期是可编程的，洗衣机作旋转运动移动被清洗的衣物。因此，工业机器人的定义必须包括如下关键词：可编程的操纵器、终端执行器、工厂作业、独立完成作业。bythisdefinition根据该定义Ifoneormoreofthesekeywordsismissing,thenwashingmachine,trafficlights,specialpurposemechanismsandmanufacturingmachinesformassproductionaredefinedasrobotsaswell,andthisisnotourintention.如果丢掉这些关键词中的一个或几个的话，那么洗衣机、红绿灯、专用机械和用于生产批量产品的制造机床都可以定义为机器人了，但这却不是我们的本意所在。Ingeneral,thestructureofarobotmanipulatoriscomposedofamainframeandawristatitsend.Themainframeisfrequentlydenotedasthearm,andthemostdistalgroupofjointsaffectingthemotionoftheend-effectorisreferredtocollectivelyasthewrist.总而言之，机器人的结构由主体构架及一个在末端的腕组成。其主体构架通常称为手臂，而影响末端感应器动作，离主体构架距离最远的关节组则称为腕。mainframen.主框架collectivea.集体的，集合的Theend-eff