生产线装配机器人手臂设计
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What Is Robot?A robot is basically a highly automated machine that is created to duplicate one or more physical of a person. It is a product of comprehensive techniques utilizing automatic control , electronics ,mechanics, computer science and other applied sciences. Robot are designed and manufactured to help us do our work faster, better, and easier, with little intervention from human operators. Ever in terms of mechanical structure , most are made with a number of parts mimicking human anatomy or that of some animals or insects, but they do not necessarily resemble man. There are two basic types of robots now widely used types of robots now widely used in industry and service. They are the manipulator and the mobile robot. The manipulator, is fixed but with a movable arm, commonly known as the robotic arm. It is usually mouted on a base in a location close to where it will perform its tasks .The most frequent application of manipulators in manufacturingis welding, painting, material handling ,assembling, spraying, adhesive binding grinding, packaging, riveting, etc. Jobs like these are repetitive, simple and reprogrammable and are thus particularly suitable for robotic arms, which can perform the jobs with high efficiency and accuracy over a long period of time. A mobile robot, is capable of moving around when it performs its tasks. It is usually mounted on a small vehicle-like structure with wheels or legs to enjoy greater mobility in difficult terrain. Some mobile robots are excellent for replacing humans in hazardous environments, for example, a robot can be sent into the reactor of a nuclear plant to remove expired fuel rods. or into a polluted mine to clean up toxants, or into a burning building to rescue victims. The typical structure of industrial robots consists of four major components: the manipulator arm, the end effector, the actuator and the controller. The manipulator arm is the major working component of a robot .It often has a shoulder joint, an elbow and a wrist. The end effector or attached to the end of the robotic arm. It Is the device intended for performing the designated operations as a human hand. One of the most popular types of end effector is a gripper ,a pinch-type clamp that simulates a thumb and a finger.The tactile ensors are installed on their skin. They can sense the shape, texture, hardness and orientation of the object they hold. The actuator is the power source for moving the robotic arm, controlling the joints and operating the end effector. Three basic types of power source are used: electric, hydraulic and pneumatic.The controller sends signals to the power source to move the robotic arm to a specific position and to actuate the end effector. Most controllers were electronic circuits in a form of NC servo control or CNC.Intelligent Robots We understood from a broad sense, the so-called intelligent robot, which gives the most profound impression is a unique self-control of living. In fact, this controlled living on the main organ is not a real person, as delicate and complex. Intelligent Robot with all kinds of internal information and external sensor information sensors, such as vision, hearing, touch, smell. In addition to a receptor, it also effects, as in the role of the environment means. This is rheumatism, or the entire motor, which brought arms and legs, long noses, such as moving tentacles. Intelligent robot is called intelligent robot, it is because it has developed a brain. In the role of the brain is a central computer, this computer operating its people with a direct link. The most important thing is, this can be carried out by computer for purposes of action. Because of this, we can truly say that this robot is a robot, despite their appearance may be different. Intelligent robots can understand human language, the language of human dialogue with the operator in its own consciousness in the formation of a separate enable it to the survival of the external environment - the actual situation of the detailed model. Analysis of the case it can adjust its own action by the operator to achieve all the requests made by the hope that can be prepared by the actions, and insufficient information in the circumstances and the environment under the conditions of a rapidly changing completion of these actions. Of course, it should be the same and our human thinking, it is impossible to do. However, there are still attempting to set up a computer can understand a certain kind of micro-world. For example Weinuogele at the Massachusetts Institute of Technology Artificial Intelligence Laboratory production of robots. This machine trying to completely learn to play building blocks: the order of building blocks, mobile structure and geometric patterns, to the extent of a child. The robot can walk alone and picked up certain items, can see things to see and analyze things, to obey instructions and use human language to answer questions. What is more important is that it is understandable capability. To this end, it has been in an artificial intelligence academic conference that, less than 10 years, we have computer intelligence increased by 10 times as Weinuogele pointed out, the computer has obvious artificial intelligence component. However, despite the artificial intelligence robot made remarkable achievements in the control theory, experts believe that it could have the intelligence did not reach the limit. Computer problem is not only the computing speed is not sufficient and feel less sensor types, but also in other areas, such as a lack of rational procedures for the preparation of the robot design. You just think, now even the most ordinary people in resolving the question of the thinking process have not deciphered, human intelligence will be how it - this process of understanding the progress is very slow, how can we let the computer control of the thinking speed quickly ? Therefore, there is no awareness of this issue has become its own human robot obstacle on the road to development. Create life is not fixed in the environment intelligent robot this topic, in recent years so that people in biological systems, animal and human brain in the process of self-awareness and understanding of a profound study. Results will appear grade adaptive system that this doctrine is effectively developing. As organizations intelligent robot behavior consistent with the purpose of the theoretical foundation of the brain is how we control our body? From a purely mechanical standpoint rough estimate, our body also has more than 200 degrees of freedom. When we write in, walking, running, swimming, playing the piano when these complex movements, what is the brain of each one muscle orders? How the brain can in the shortest possible time dealing with so much information? Our brain is not involved in these activities. The brain - the center of our information processors disdain to control this. It is not our body monitoring the various sports sites, movements in the detailed design is much lower than the level of the cerebral cortex, as well. Much like using a high-level language programming, as long as that an interval from 1 to 20 for a group of figures, the robot will be this group of their own detailed instruction in the operating system. The most obvious is that, access to a hot object to the retractable handle, The most obvious of these instructions even in the brain also do not realize that the time has been issued. To a large number of tasks in the allocation between the cortex, this is more than a system to control organ for each element of the strict requirements necessary action on the distribution of cost-effective, economical and effective. In resolving major issues, such decentralization will be the brain is too complicated, not only Naolu, and even the whole body to accommodate all over. The completion of this or that number of complex movements, we usually be decomposed into a series of petty actions generally (such as, sit down, step right, step left foot). Teach children a variety of actions can be summed up in the childrens memory in the formation and consolidation of the corresponding little tricks. The same token, the process is perceived such an organisation together. Sentimental image - that is auditory, visual or tactile pulse sequence or combination of a fixed (horse), or a sequence and combination of both. The problem is that control robot simulation animal movement and the ability to adapt. The establishment of robot control hierarchy - is the first robot in the various levels of hierarchy between the subsystems and a perceived function, information processing and control functions of the distribution function. Third generation of robots with large-scale processing capacity, in which case information processing and control the complete reunification of algorithms, in fact inefficient, and even launched. Therefore, the grading structure of the emergence of adaptive first is to enhance the quality control of the robot, which is to reduce the level of uncertainty, and the rapid increase of action. In order to play all levels and the role of subsystems, the need to significantly reduce the amount of information. So the algorithm so that people can perform their duties in the greatly reduced uncertainty of the situation down fulfil its mandate. In short, the intelligent robot developed the third generation is an important feature. According to the intelligence robot people to determine their own level of the other robots. Some people even so a robot into the following categories: controlled robot - zero generation robots, and do not have any intellectual property is controlled by the people to master manipulator; the robot can be trained - the first generation of robots with memory, from person operation, action plans and procedures specified by the person, it is only remember (the ability to receive training) and reappearance out; feeling robots - robots who remember arrangement plan, and then one way or another based on external data (feedback) calculated actions of specific procedures; intelligent robot - were designated target, the robot independently prepared operational plans, according to the actual situation determined action procedures, and then moves into the campaign operation. Therefore, it has a wide range of sensory systems, intelligent, analog devices (and its surrounding circumstances - robot awareness and self-consciousness). 什么是机器人机器人基本上是一种高度自动化的机器,可模仿人的一个或多个身体动作。机器人是涉及自动控制、电子学、机械学、计算机科学以及其它应用科学等学科的综合技术的产物。人们设计和制造机器人用于帮助我们在不需要操作者过多参与的情况下,更好、更快更方便的工作。尽管按机械结构的术语,大多数机器人都做成有一定数量的按解剖学模仿人类、动物和昆虫的零件,但机器人不必要和人的模样相似。目前广泛应用于工业及服务行业的机器人主要有两种基本类型,即机械手和移动机器人。机械手是固定安装的,但其手臂可移动。通常称机械手为机器人手臂。机械手通常安装在位于其工作区域附近的地方。制造业中机械手应用最多的是焊接、油漆、抓取材料、装配、喷涂、粘贴、磨削、包装、铆接等工作。像这样的一些工作都是重复、简单、可重新编程的,因而特别适用于机械手,它可以长时间高效、高精度地完成工作。移动机器人用于在工作时需要来回走动的场合。常将机器人安装在带有轮子或者腿看似小车的结构上,以满足为不利工作场地提供较大移动范围的需要。有些用于水下作业的机器人还需要装上推进系统,如螺旋桨或船舵等。有些移动机器人在代表人类在恶劣的环境下工作方面有优越性。例如:将机器人派到核电站的反应堆中去拆换用完了的燃料杆,或将其派到有毒矿井内去消除有毒气体,或派往着火的大楼去抢救伤员等。工业机器人的典型结构由四个主要部分组成:操作手臂、前端操作手、执行件和控制器。操作手臂是机器人的主要工作部件,通常有肩关节、肘关节、和腕关节。前端操作手安装在手臂最前端,它是用来完成类似于人手动作的装置。最通用的形式是手爪,即:是一种模仿拇指和食指的挟起式夹钳。在它们的皮肤上装有触觉传感器。它们能感觉出所抓取物体的形状、材质、硬度及方向。执行件是移动手臂、控制关节、操作手抓的动力源。最基本的三种动力源是电动、液压和气动。控制器将信号传给动力源,将手臂移动到指定位置并操作手抓。大多数控制器是以数控或伺服控制或计算机数控为形式的电子线路。智能机器人我们从广泛意义上理解所谓的智能机器人,它给人的最深刻的印象是一个独特的进行自我控制的“活物”。其实,这个自控“活物”的主要器官并没有像真正的人那样微妙而复杂。智能机器人具备形形色色的内部信息传感器和外部信息传感器,如视觉、听觉、触觉、嗅觉。除具有感受器外,它还有效应器,作为作用于周围环境的手段。这就是筋肉,或称自整步电动机,它们使手、脚、长鼻子、触角等动起来。智能机器人之所以叫智能机器人,这是因为它有相当发达的“大脑”。在脑中起作用的是中央计算机,这种计算机跟操作它的人有直接的联系。最主要的是,这样的计算机可以进行按目的安排的动作。正因为这样,我们才说这种机器人才是真正的机器人,尽管它们的外表可能有所不同。智能机器人能够理解人类语言,用人类语言同操作者对话,在它自身的“意识”中单独形成了一种使它得以“生存”的外界环境实际情况的详尽模式。它能分析出现的情况,能调整自己的动作以达到操作者所提出的全部要求,能拟定所希望的动作,并在信息不充分的情况下和环境迅速变化的条件下完成这些动作。当然,要它和我们人类思维一模一样,这是不可能办到的。不过,仍然有人试图建立计算机能够理解的某种“微观世界”。比如维诺格勒在麻省理工学院人工智能实验室里制作的机器人。这个机器试图完全学会玩积木:积木的排列、移动和几何图案结构,达到一个小孩子的程度。这个机器人能独自行走和拿起一定的物品,能“看到”东西并分析看到的东西,能服从指令并用人类语言回答问题。更重要的是它具有“理解”能力。为此,有人曾经在一次人工智能学术会议上说过,不到十年,我们把电子计算机的智力提高了10倍;如维诺格勒所指出的,计算机具有明显的人工智能成分。不过,尽管机器人人工智能取得了显著的成绩,控制论专家们认为它可以具备的智能水平的极限并未达到。问题不光在于计算机的运算速度不够和感觉传感器种类少,而且在于其他方面,如缺乏编制机器人理智行为程序的设计思想。你想,现在甚至连人在解决最普通的问题时的思维过程都没有破译,人类的智能会如何呢这种认识过程进展十分缓慢,又怎能掌握规律让计算机“思维”速度快点呢?因此,没有认识人类自己这个问题成了机器人发展道路上的绊脚石。制造“生活”在具有不固定性环境中的智能机器人这一课题,近年来使人们对发生在生物系统、动物和人类大脑中的认识和自我认识过程进行了深刻研究。结果就出现了等级自适应系统说,这种学说正在有效地发展着。作为组织智能机器人进行符合目的的行为的理论基础,我们的大脑是怎样控制我们的身体呢?纯粹从机械学观点来粗略估算,我们的身体也具有两百多个自由度。当我们在进行写字、走路、跑步、游泳、弹钢琴这些复杂动作的时候,大脑究竟是怎样对每一块肌肉发号施令的呢?大脑怎么能在最短的时间内处理完这么多的信息呢?我们的大脑根本没有参与这些活动。大脑我们的中心信息处理机“不屑于”去管这个。它根本不去监督我们身体的各个运动部位,动作的详细设计是在比大脑皮层低得多的水平上进行的。这很像用高级语言进行程序设计一样,只要指出“间隔为一的从120的一组数字”,机器人自己会将这组指令输入详细规定的操作系统。最明显的就是,“一接触到热的物体就把手缩回来”这类最明显的指令甚至在大脑还没有意识到的时候就已经发出了。把一个大任务在几个皮层之间进行分配,这比控制器官给构成系统的每个要素规定必要动作的严格集中的分配合算、经济、有效。在解决重大问题的时候,这样集中化的大脑就会显得过于复杂,不仅脑颅,甚至连人的整个身体都容纳不下。在完成这样或那样的一些复杂动作时,我们通常将其分解成一系列的普遍的小动作 (如起来、坐下、迈右脚、迈左脚)。教给小孩各种各样的动作可归结为在小孩的“存储器”中形成并巩固相应的小动作。同样的道理,知觉过程也是如此组织起来的。感性形象这是听觉、视觉或触觉脉冲的固定序列或组合 (马、人),或者是序列和组合二者兼而有之。控制机器人的问题在于模拟动物运动和人的适应能力。建立机器人控制的等级首先是在机器人的各个等级水平上和子系统之间实行知觉功能、信息处理功能和控制功能的分配。第三代机器人具有大规模处理能力,在这种情况下信息的处理和控制的完全统一算法,实际上是低效的,甚至是不中用的。所以,等级自适应结构的出现首先是为了提高机器人控制的质量,也就是降低不定性水平,增加动作的快速性。为了发挥各个等级和子系统的作用,必须使信息量大大减少。因此算法的各司其职使人们可以在不定性大大减少的情况下来完成任务。总之,智能的发达是第三代机器人的一个重要特征。人们根据机器人的智力水平决定其所属的机器人代别。有的人甚至依此将机器人分为以下几类:受控机器人“零代”机器人,不具备任何智力性能,是由人来掌握操纵的机械手;可以训练的机器人第一代机器人,拥有存储器,由人操作,动作的计划和程序由人指定,它只是记住 (接受训练的能力)和再现出来;感觉机器人机器人记住人安排的计划后,再依据外界这样或那样的数据 (反馈)算出动作的具体程序;智能机器人人指定目标后,机器人独自编制操作计划,依据实际情况确定动作程序,然后把动作变为操作机构的运动。因此,它有广泛的感觉系统、智能、模拟装置(周围情况及自身机器人的意识和自我意识)。 - 7 -毕业设计(论文)任务书学生姓名朱海滨系部汽车工程系专业、班级车辆工程0893112指导教师姓名 于连志职称助工从事专业交通运输是否外聘是否题目名称生产线装配机器人手臂设计一、设计(论文)目的、意义 目的:随着计算机技术、微电子技术、网络技术等的快速发展, 必将迎来装配机器人的飞速发展。我国机器人技术虽起步较晚, 在国家科技攻关项目及国家863计划的支持下也得到了一定的发展, 但与国际先进水平还有很大差距, 目前国际机器人界都在加大科研力度,进行机器人共性技术及关键技术的研究, 并朝着智能化和多样化方向发展。因此, 发展我国的装配机器人事业急不可待。我对于本课题的研究,通过对课题的逐步深入和研究,来完成对装配机器人的初步设计,在这基础上我还想做出一些创新,一方面开发一下创新思维,一方面在这个领域里做出一点突破,为装配机器人事业出一份力。这次毕业设计对我以后学习和工作也有深远的现实意义:(1)对设计方案的思考,还有对设计中一些关键问题的解决,这些都培养了我自己进行综合分析和提高解决实际问题的能力,从而达到巩固、扩大、深化所学知识的目的。(2)在设计中,查阅相关资料、手册,学习这些资料中的知识要点和设计方法,从而运用到自己的设计中。这些培养了我调查研究,熟悉有关技术政策,运用国家标准、规范、手册、图册等工具书,进行设计计算、数据处理、编写技术文件的独立工作能力。 (3)通过指导教师地言传身教,还有自己对设计的见解,研究出一套或是多套设计方案。这样使自己建立正确的设计思想;初步掌握解决本专业工程技术问题的方法和手段;从而使自己受到一次工程师的基本训练。二、设计(论文)内容、技术要求(研究方法)(一) 1.六自由度关节型机器人总体传动方案确定;2.通过计算选择合理的机器人组件;3.设计机器人本体结构;4.绘制机器人总装图、必要的零件图和相应的硬件电路图;5.针对设计的机器人设计其相应的控制电路;6.编写设计计算说明书。配图、操纵机构装配图及各主要零部件的零件图。 (二)、本设计主要研究方法:1.文献调研和实际考察,研究前人经验、现实的需要以及存在的问题2.对所要研究的课题进行初步可行性分析3.进行实地设计和改进(三)、论文要求1.参考文献篇数:10篇以上(其中不少于2篇外文文献)2.内容充实,结构清晰合理,符合规范3.必须进行大量的实地调查设计(论文)完成后应提交的成果(一)计算说明部分 1. 根据相关参数完成机械手臂及零部件设计、计算和校核;3、 2.撰写设计说明书10000字以上;(二)图纸部分绘制两张零号图纸以上,其中至少有一张CAD图 四、设计(论文)进度安排第1-2周:收集资料,完成开题报告,完成总体设计方案并及时写好毕业设计日志;10月20日开题检查第3-7周:1、完成整体设计,材料的选择和相关计算,完成所有草图的绘制;2、11月18日指导教师进行中期检查;3、11月24日全系中期检查并及时写好毕业设计日志。第8-9周:1、完成所有正式图纸的绘制和论文草稿;2、12月8日结题检查。第10-11周:1、对毕业设计论文的内容、格式、英、汉文摘要、毕业论文等内容进行修改,2、完成正式论文的装订;3、12月19日上交所有毕业设计相关材料。第12周:1、准备毕业设计答辩。2、12月29日答辩。五、主要参考资料1.期刊类:相关资料(中国学术期刊网)2.书籍:相关汽车设计、机械设计等书籍3.网络:相关专业网站4.其他:相关科研资料六、备注 指导教师签字:年 月 日教研室主任签字: 年 月 日4 哈尔滨工业大学华德应用技术学院 毕业设计(论文) 题 目 生产线装配机器人手臂设计 专 业 车 辆 工 程 学 号 1089311204 学 生 朱海滨 指导教师 于连志 答辩日期 2011.12.30 哈工大华德学院
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