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1、IntroductiontoroboticstechnologyInthemanufacturingfield,robotdevelopmenthasfocusedonengineeringroboticarmsthatperformmanufacturingprocesses.Inthespaceindustry,roboticsfocusesonhighlyspecialized,one-of-kindplanetaryrovers.Unlikeahighlyautomatedmanufacturingplant,aplanetaryroveropera
2、tingonthedarksideofthemoon--withoutradiocommunication--mightrunintounexpectedsituations.Ataminimum,aplanetaryrovermusthavesomesourceofsensoryinput,somewayofinterpretingthatinput,andawayofmodifyingitsactionstorespondtoachangingworld.Furthermore,theneedtosenseandadapttoapartiallyunkn
3、ownenvironmentrequiresintelligence(inotherwords,artificialintelligence).Mechanicalplatforms--thehardwarebaseArobotconsistsoftwomainparts:therobotbodyandsomeformofartificialintelligence(AI)system.Manydifferentbodypartscanbecalledarobot.Articulatedarmsareusedinweldingandpainting;gant
4、ryandconveyorsystemsmovepartsinfactories;andgiantroboticmachinesmoveearthdeepinsidemines.Oneofthemostinterestingaspectsofrobotsingeneralistheirbehavior,whichrequiresaformofintelligence.Thesimplestbehaviorofarobotislocomotion.Typically,wheelsareusedastheunderlyingmechanismtomakearob
5、otmovefromonepointtothenext.Andsomeforcesuchaselectricityisrequiredtomakethewheelsturnundercommand.MotorsAvarietyofelectricmotorsprovidepowertorobots,allowingthemtomovematerial,parts,tools,orspecializeddeviceswithvariousprogrammedmotions.Theefficiencyratingofamotordescribeshowmucho
6、ftheelectricityconsumedisconvertedtomechanicalenergy.Let'stakealookatsomeofthemechanicaldevicesthatarecurrentlybeingusedinmodernroboticstechnology.DrivingmechanismsGearsandchains:Gearsandchainsaremechanicalplatformsthatprovideastrongandaccuratewaytotransmitrotarymotionfromoneplacet
7、oanother,possiblychangingitalongtheway.Thespeedchangebetweentwogearsdependsuponthenumberofteethoneachgear.Whenapoweredgeargoesthroughafullrotation,itpullsthechainbythenumberofteethonthatgear.Pulleysandbelts:Pulleysandbelts,twoothertypesofmechanicalplatformsusedinrobots,workthesamew
8、ayasgearsandchains.Pulleys
