机器人技术简介.doc

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1、癣梢医襞芜劭仪眨氖刹焙馈奔玄Introductiontoroboticstechnology灼瓦喷璀揲跏喈椁盍初吨脂谩孢Inthemanufacturingfield,robotdevelopmenthasfocusedonengineeringroboticarmsthatperformmanufacturingprocesses.Inthespaceindustry,roboticsfocusesonhighlyspecialized,one-of-kindplanetaryrovers.Unlikeahighlyautomatedmanufacturingpl

2、ant,aplanetaryroveroperatingonthedarksideofthemoon--withoutradiocommunication--mightrunintounexpectedsituations.Ataminimum,aplanetaryrovermusthavesomesourceofsensoryinput,somewayofinterpretingthatinput,andawayofmodifyingitsactionstorespondtoachangingworld.Furthermore,theneedtosenseanda

3、dapttoapartiallyunknownenvironmentrequiresintelligence(inotherwords,artificialintelligence).鞫甚净浞怀蠡佞寰痴嚆外朕谭纶Mechanicalplatforms--thehardwarebase橇匡钓伦别蓓憔鳄欢囫织填挎创Arobotconsistsoftwomainparts:therobotbodyandsomeformofartificialintelligence(AI)system.Manydifferentbodypartscanbecalledarobot.Art

4、iculatedarmsareusedinweldingandpainting;gantryandconveyorsystemsmovepartsinfactories;andgiantroboticmachinesmoveearthdeepinsidemines.Oneofthemostinterestingaspectsofrobotsingeneralistheirbehavior,whichrequiresaformofintelligence.Thesimplestbehaviorofarobotislocomotion.Typically,wheelsa

5、reusedastheunderlyingmechanismtomakearobotmovefromonepointtothenext.Andsomeforcesuchaselectricityisrequiredtomakethewheelsturnundercommand.寻洇藉身屠陲彻蜱储乍堤菏颁弩Motors簋赘罱桉搌殳宪荬酉搜鸪佃湾锢Avarietyofelectricmotorsprovidepowertorobots,allowingthemtomovematerial,parts,tools,orspecializeddeviceswithvario

6、usprogrammedmotions.Theefficiencyratingofamotordescribeshowmuchoftheelectricityconsumedisconvertedtomechanicalenergy.Let'stakealookatsomeofthemechanicaldevicesthatarecurrentlybeingusedinmodernroboticstechnology.樟蝻证渌谀跛喂槎呔蚊牙耔和巴Drivingmechanisms登杠轱坏辫窄好濯舴甏行勘掺汉Gearsandchains:Gearsandchainsa

7、remechanicalplatformsthatprovideastrongandaccuratewaytotransmitrotarymotionfromoneplacetoanother,possiblychangingitalongtheway.Thespeedchangebetweentwogearsdependsuponthenumberofteethoneachgear.Whenapoweredgeargoesthroughafullrotation,itpullsthechainbythenumberofteethonthatgear.箕她膺每碍