中英文翻译机器人机器人工业机器人是在生产环境中用以提高生产效率的工具，它能做常规的装配线工作，或能做那些对于工人来说是危险的工作，例如，第一代工业机器人是用来在核电站中更换核燃料棒，如果人去做这项工作，将会遭受有害放射线的辐射。
工业机器人亦能工作在装配线上将小元件装配到一起，如将电子元件安装在电路印刷板，这样，工人就能从这项乏味的常规工作中解放出来。
机器人也能按程序要求用来拆除炸弹，辅助残疾人，在社会的很多应用场合履行职能。
机器人可以认为是将手臂末端的工具、传感器和（或）手爪移到程序指定位置的一种机器。
当机器人到达位置后，他将执行某种任务。
这些任务可以是焊接、密封、机器装料、拆卸以及装配工作。
除了编程以及系统的开停之外，这些工作可以在无人干预下完成。
如下叙述的是机器人系统基本术语：机器人是一个可编程、多功能的机器手，通过给要完成的不同任务编制各种动作，它可以移动零件、材料、工具以及特殊装置。
这个基本定义引导出后续段落的其他定义，从而描绘出一个完整的机器人系统。
预编程位置点是机器人为完成工作而必须跟踪的轨迹。
在某些位置点上机器人将停下来做某写操作，如装配零件、喷涂油漆或焊接。
这些预编程点贮存在机器人的贮存器中，并为后续的连续操作所调用，而且这些预编程点像其他程序数据一样，可在日后随工作需要而变化。
因而，正是这种可编程的特征，一个工业机器人很像一台计算机，数据可在这里储存、后续调用与编辑。
机械手上机器人的手臂，它使机器人能弯曲、延伸、和旋转，提供这些运动的是机器手的轴，亦是所谓的机器人的自由度。
一个机器人能有3—16 轴，自由度一词总是与机器人轴数相关。
工具和手爪不是机器人自身组成部分，但它们安装在机器人手臂末端的附件。
这些连在机器人手臂末端的附件可使机器人抬起工件、点焊、刷漆、电弧焊、钻孔、打毛刺以及根据机器人的要求去做各种各样的工作。
机器人系统还可以控制机器人的工作单元，工作单元是机器人执行任务所处的整体环境，包括控制器、机械手、工作平台、安全保护装置或者传输装置。
所有这些为保证机器人完成自己任务而必需的装置都包括在这一工作单元中。
另外，来自外设的信号与机器人通讯，通知机器人何时装配工件、取工件或放工件到传输装置上。
机器人系统有三个基本部件：机械手、控制器和动力源。
A.机械手机械手做机器人系统中粗重工作，它包括两个部分：机构和附件，机械手也有联接附件基座，图 1 表示了一机器人基座与附件之间的联接情况。
图 1 机械手基座通常在工作区域的地基上，有时基座也可以移动，在这种情况下基座安装在导轨或轨道上，允许机械手从一个位置移动到另外一个位置。
正如前面所提到的那样，附件从机器人基座上延伸出来，附件就是机器人的手臂，它可以是直接型，也可以是轴节型手臂，轴节型手臂也是大家所知的关节型手臂。
机械臂使机械手产生各轴的运动。
这些轴连在一个安装基座上，然后再连到托架上，托架确保机械手停留在某一位置。
在手臂的末端上，连接着手腕（图1），手腕由辅助轴和手腕凸缘组成，手腕是让机器人用户在手腕凸缘上安装不同工具来做不同种工作。
机械手的轴使机械手在某一区域内执行任务，我们将这个区域为机器人的工作单元，该区域的大小与机器手的尺寸相对应，（图2）列举了一个典型装配机器人的工作单元。
随着机器人机械结构尺寸的增加。
工作单元的范围也必须相应增加。
图2 机械手的运动由执行元件或驱动系统来控制。
执行元件或驱动系统允许个轴在工作单元内运动。
驱动系统可用电气、液压和气压动力，驱动系统所产生的动力经机构转变为机械能，驱动系统与机械传动链相匹配。
有链、齿轮和滚珠丝杠组成的机械传动链驱动着机器人的各轴。
B. 控制器机器人控制器是工作单元的核心。
控制器储存着预编程序供调用、控制外设，及与厂内计算进行通讯以满足产品经常更新的需要。
控制器用于控制机器手运动和在工作单元内控制机器人外设。
用户可通过手持的示教盒将机械手运动的程序编入控制器。
这些信息储存在控制器的存储器中以备后续调用，控制器储存了机器人系统的所有编程数据，它能储存几个不同的程序，并且所有这些程序均能编辑。
控制器要求能够在工作单元内外设进行通信。
例如控制器有一个输入端，它能标识某个机加工操作何时完成。
当该加工循环完成后，输入端接通，告诉控制器定位机械手以便能抓取已加工工件，随后，机械手抓取一未加工件，将其放置在机床上。
接着，控制器给机床发出开始加工的信号。
控制器可以由根据事件顺序而步进的机械式轮鼓组成，这种类型的控制器可用在非常简单的机械系统中。
用于大多数人系统中的控制器代表现代电子学的水平，是更复杂的装置，即它们是由微处理器操纵的。
这些微处理器可以是8 位，16 位或32 位处理器。
它们可以使得控制器在操纵工程中显非常柔性。
控制器能通过通信线发送信号，使它能与机械手各轴交流信息，在机器人的机械手和控制器之间的双向交流信息可以保持操作和位置经常更新，控制器亦能控制安装在机器人手腕上的任何工具。
控制器也有与厂内各计算机进行通信的任务，这种通信联系使机器人成为计算机辅助制造（CAM）系统的一个组成部分。
存储器。
基于微处理器的系统运行时要与固态的存储装置相连，这些存储装置可以是磁泡，随机存储器、软盘、磁带等。
每种记忆存储装置均能贮存、编辑信息以备后续调用和编辑。
C. 动力源动力源是给机器人和机器手提供动力的单元。
传给机器人系统的动力源有两种，一种是用于控制器的交流电，另一种是用于驱动机械手各轴的动力源，例如，如果机器人的机械手是有液压和气动驱动的，控制信号便传送到这些装置中，驱动机器人运动。
对于每一个机器人系统，动力是用来操纵机械手的。
这些动力可来源与液压动力源、气压动力源或电源，这些能源是机器人工作单元整体的一部分。
robot The industr ial robot is a tool t hat is used in t he manufact ur ing environment to increase product ivit y. It can be used to do rout ine and tedious assembly line jobs, or it can per form jobs t hat might be hazardous to t he human worker . For example ,one of t he first indust r ial robot was used to replace t he nuclear fuel rods in nuclear power plant s. A human doing t his job might be exposed to har mful amount s of radiat ion. The indust r ial robot can also operat e on t he assembly line, putt ing toget her small component s, such as placing electronic component s on a pr int ed circuit board. Thus, t he human worker can be relieved of t he rout ine operat ion of t his t edious t ask. Robot s can also be programmed to defuse bombs, to serve t he handicapped, and to per for m funct ions in numerous applicat ions in our societ y. The robot can be t hought of as a machine t hat will move an end - of-tool , sensor , and/or gr ipper to a preprogrammed locat ion. When t he robot arr ives at t his locat ion, it will perform some sort of t ask . This task could be welding, sealing, machine loading , machine unloading, or a host of assembly jobs. Generally, t his work can be accomplished wit hout t he involvement of a human being, except for programming and for t urning t he syst em on and off. The basic t er minology of robot ic syst ems is introduced in t he following: 1. A robot is a reprogrammable , mult ifunct ional manipulator designed to move part s, mat erial, tool,or special devices t hrough var iable programmed mot ions for t he performance of a var iet y of different t ask. This basic definit ion leads t o ot her definit ions, present ed in t he following paragraphs, t hat give a complet e pict ure of a robot ic syst em. 2. Preprogrammed locat ions are pat hs t hat t he robot must follow to accomplish work, At some of t hese locat ions, t he robot will stop and per for m some operat ion , such as assembly of part s, spray paint ing ,or welding .These preprogrammed locat ions are stored in t he robot ’s memonr y and are recalled lat er for cont inuous operat ion. Fort her more,t hese preprogrammed locat ions, as well as other program dat a, can be changed lat er as t he work requirement s change.Thus, wit h regard to t his programming feat ure, an indust r ial robot is ver y much like a comput er , wher e dat a can be stoned and lat er recalled and edit ed. 3. The manipulator is t he ar m of t he robot .It allows t he robot to bend,reach, and t wist .This movement is provided by t he manipulator ’s axes, also called t he degrees of freedom of t he robot . A robot can have from 3 to 16 axes. The t erm degrees of freedom will always relat e to t he number of axes found on a robot. 4. The tooling and fr ippersare not part t he robot ic syst em it self;rat her,t hey are attachment s t hat fit on t he end of t he robot ’s ar m. These att achment s connect ed to t he end of t he robot ’s ar m allow t he robot to lift part s, spot -weld ,paint, arc-weld, drill, deburr, and do a var iet y of t asks, depending on what is required of t he robot. 5. The robot ic syst em can cont rol t he work cell of t he operat ing robot. The work cell of t he robot is t he tot al environment in which t he robot must perfor m it s task.Included wit hin t his cell may be t he cont roller ,t he robot manipulator , a work t able , safet y features,or a conveyor. All t he equipment t hat is required in order for t he robot to do it s job is included in t he work cell . In addit ion, signals from out side devices can communicat e wit h t he robot to t ell t he robot when it should part s, pick up part s, or unload parts to a conveyor. The robot ic syst em has t hree basic component s : t he manipulator, t he cont roller, and t he power sourse. A. Manipulator The manipulator , which does t he physical work of t he robot ic syst em, consist s of t wo sect ions:t he mechanical sect ion and t he att ached appendage. The manipulator also has a base to which t he appendages are att ached. Fig. 1 illustrat es the connect ion of t he base and t he appendage of a robot. Photo 1. Basic component s of a robot ’s manipulator The base of t he manipulator is usually fixed to t he floor of t he work area. Somet imes, t hough, t he base may be movable. In t his case, t he base is att ached to eit her a rail or a track, allowing t he manipulator to be moved from one locat ion to ant her. As ment ioned previously ,t he appendage ext ends from t he base of t he robot. The appendage is t he ar m of t he r obot. It can be eit her a st raight , movable ar m or a joint ed ar m. The joint ed ar m is also known as an art iculat ed ar m. The appendages of t he robot manipulator give t he manipulator it s var ious axes of mot ion. These axes are att ached to a fixed base , which, in t urn, is secured to a mount ing. This mouning ensures t hat t he manipulator will in one locat ion. At t he end of t he ar m , a wr ist(see Fig 2) is connect ed. The wr ist is made up of addit ional axes and a wrist flange. The wr ist flange allows t he robot user to connect different t ooling to t he wrist for different jobs. 8 The manipulator ’s axes allow it to per for m work wit hin a cert ain area. The area is called t he work cell of t he robot , and it s size corresponds to t he size of t he manipulator. (Fid2) illust rat es t he work cell of a t ypical assembly robot. As t he robot ’sphysical size increases,t he size of t he work cell must also increase. Photo2. Element s of a work cell from t he t op The movement of t he manipulator is controlled by act uator,or dr ive syst ems.The act uator,or dr ive syst ems, allows t he var ious axes to move wit hin t he work cell. The dr ive syst em can use electr ic, hydraulic,or pneumat ic power.The energy developed by t he dr ive syst em is convert ed to mechanical power by var ious mechanical power syst ems. The dr ive syst ems are coupled t hrough mechanical linkages. These linkages, in t urn, dr ive t he different axes of t he robot. The mechanical linkages may be composed of chain, gear, and ball screws. B. Cont roller The cont roller in t he robot ic syst em is t he heart of t he operat ion . The cont roller stores preprogrammed infor mat ion for lat er recall, controls per ipheral devices, and communicat es wit h comput ers wit hin t he plant for const ant updat es in product ion. The cont roller is used to cont rol t he robot manipulator ’s movement s as well as to cont rol per ipheral component s wit hin t he work cell. The user can program t he movement s of t he mamipulator into t he cont roller t hrough t he use of a har d-held t each pendant .This infor mat ion is stored in t he memory of t he controller for lat er recall. The controller stores all program data for t he robot ic syst em. It can store several different programs, and any of t hese programs can be edit ed. The cont roller is also required to communicat e wit h per ipheral equipment wit hin t he work cell. For example,t he contr oller has an input line t hat ident ifies when a machining operat ion is complet ed. When t he machine cycle is complet ed,t heinput line t urn on telling t he controller to posit ion t he manipulator so t hat it can pick up t he finidshed part .Then , a new part is picked up by t he manipulator and placed into t he machine. Next,t he controller signals t he machine to srart operat ion. The cont roller can be made from mechanically operat ed drums t hat st ep t hrough a sequence of enent s.This t ype of controller operates wit h a ver y simple robot ic syst em. The comtrollers found on t he major it y of robot ic syst ems are more complex devices and represent st at e-of-t he-art eletronoics.That is,t hey are microprocessor - operat ed.t hese microprocessors are eit her 8-bit , 16-bit ,or 32-bit processors. t his power allows t he controller to be ver y flexible in it s operat ion. The cont roller can send elect ric signals over communicat ion lines t hat allow it to t alk wit h t he var ious axes of t he manipulator. This t wo-way communicat ion bet ween t he robot manipulator and t he cont roller maint ains a const ant updat e of t he end t he operat ion of t he syst em. The cont roller also controls any tooling placed on t he end of t he robot ’s wr ist . The cont roller also has t he job of communicat ing wit h t he different plant comput ers. The communicat ion link est ablishes t he robot as part a comput er -assist ed manufact ur ing (CAM) syst em. As t he basic definit ion st at ed, t he robot is a reprogrammable, mult ifunct ional manipulator.Therefore, t he controller must contain some of memor y stot age. The microprocessor-based syst ems operates in conjunct ion wit h solid-st at e divices. These memor y devices may be magnet ic bubbles, random-access memony, floppy disks,or magnet ic tape.Each memor y storage device stores program infor mat ion fir or for edit ing. C.power suppy The power supply is t he unit t hat supplies power to t he controller and t he manipulator. The t ype of power are delivered to t he robot ic syst em. One t ype of power is t he AC power for operat ion of t he cont roller. The ot her t ype of power is used for dr iving t he var ious axes of t he manipulator. For example, if t he robot manipulator is cont rolled by hydraulic or pneumat ic drives, cont rol singals are sent to t hese devices causing mot ion of t he robot . For each robot ic syst em, power is required to operat e t he manipulator .This power can be developed from eit her a hydraulic power source, a pneumat ic power source,or an elect ric power source.There power sources are part of t he total component s of t he robot ic work cell.。