Robots, like NC machines can he powered by electrical motors，hydraulic systems，or pnetinlat tc
svsterns. Control for either device can lye either open-loop or closed-loop. In fact，many of the
developments used in robotics have evolved from the NC industry，and many of the manufactur-
ers of robots also manufacture NC machines or NC controllers. 工业机器人是相对来说较新的机电设备，它已经开始改变现代工业的面貌。工业机器人不像科幻小说中的那个模样具有人一样的能力并且能与其它移动物建立友谊。机器人能够看见听到触觉听的研究已经进行了20多年，现在开始开花结果了。然而，通常所说的工业机器人技术是是大多数机器人只包含了一条臂而不是拥有人解剖学上的全部结构。通常的控制只允许这些机器人在空间上从点到点的移动，完成相对简单的工作。美国机器人学会定义机器人为“一个可再编程序，多功能的机器手，它通过各种可编程的运行来完成不同的任务，用于搬用原料、零件、刀具、以及专用装置。如果认为不同类型的加工有不同的作用。那么一个数控加工中心也可以被认为是机器人。大部分制造工程师认为数控加工中心不是机器人，尽管他们有很多相似之处。数控机构和机器人的动力驱动和控制十分相似。想数控机构一样机器人能够由发动机、液压系统、气压系统提供动力。两种设备都能由开环控制或闭环控制。实际上，许多应用于机器人发展技术由数控工业演变过来并且许多机器人制造商也制造数控机床和数控控制器。
A physical robot is normally composed of a main frame (or arm) with a wrist and some tool-
ing (usually some type of gripper) at the end of the frame. \power system may also
be included with the robot. A controller with some type of teach pendant，joy-stick. or key pad
is also part of the system. I1 typical robotic system is shown in Fig. 5. 1. 实际的机器人由带有腕（或称为臂）的主机身和机器端部的工具（通常是某些的支撑器）组成。机器人也可能有一个辅助动力系统。机
器人系统还包括一个有一些控制环模、操作杆、键的控制器。一种典型的机器人系统如图5、1
Robots are usually characterized by the design of the mechanical system. A robot whose
main frame consists of three linear axes is called a Cartesian robot. The Cartesian robot derives its
name from the coordinate systern. Travel normally takes place linearly in three-space. Some
Cartesian robots are constructed like a gantry to minimize deflection alang each of the axes.
These robots are referred to as gantry robots. Fig. 5. 2 shows examples of Cartesian robots.
These robots behave and car, be controlled similarly to conventional :hree-axis IBC machines.、
Gantry robots are generally the most accuratN physical structure for robots. Gantry robots are
cOIIIIIi(]nly used for assemhly where tight tolerance and exact location are required. 机器人特点通常由机械系统的设计表现，一个主要框架包括三条移动轴的机器人称为笛卡尔机器人。笛卡尔机器人它的名字来源于笛卡尔坐标系沿三维空间的直线移动。一些笛卡尔机器人由龙门结构构成以便使沿每个轴的偏差最小。这些机器人称为龙门机器人。图5.2展示了笛卡尔机器人，这些机器人的动作控制都相似于传统的三坐标机床。龙门结构一般来说是最正确的机器人实际结构。龙门机器人通常用于公差较小和位置度要求较高的装配中。 A cylindrical robot is composed of two linear axes and one rotary axis. name from the work envelollE (the, space in which it operates)、which is This robot derives its
created by moving the axes from limit to limit甲F'ig.5。3 shows typical cylindrical robot、二Cylindrical robots are used for a variety of applications，but most frequently for material-handling operations. 圆柱机器人由两个移动轴和一个旋转轴组成，这种机器人的名称来源自包围轨迹（它的功作范围），它由轴移动的极限位置构成。图5.3
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展示了典型的圆柱机器人。圆柱机器人有许多应用，最常见的是材料的搬运操作。
PROGRAMMING A ROBOT
In order for a device to qualify as a robot，it must be easily reprogrammable. Nonprograniniahie
mechanisms，regardless of their potential flexibility by reasserrtbly or rewiring，do not qualify as
robots.‘A class of devices that fits this category are fixed or variable-sequence robots. Many of
these robots are pneumatically driven甲Rather than controlling the robot path.the device:、driv-
en to fixed stops or switches via some form of ladder logic. Although the、 ladder programming
qualifies for the definition of a robot，the switches or stops must normally he physically moved in
order to alter the tasks being performed. ' Drive actuators or motors are turned \
pending on the desired sequence of tasks and switch states. Robot operations for This type of sys
tem are normally limited to rather simple application 给机器人编程
为了是设备具有资格作为机器人，它必须是容易可再编程的。不可编程的机构，无论其通过重新装配或再接线可实现的潜在柔性有多大，也不能算坐机器人。许多这类设备是固定的或可变的序列机器人。很多这样的机器人是由气压驱动的。这种机器人借助某种梯形逻辑图被驱动至一些固定的挡块活行程开关处，而不是控制它的轨迹。虽然梯形图编程可满足机器人的运动要求，但行程开关和挡块必须正常的被整体移动，以改变所需执行的工作任务。动力开动或发动机打开到“开”或“关”依据工序的要求和转换状态。机器人对这类系统操作通常局限于相当简单应用。
Programming of more conventional robots normally takes one of three forms:(I)wAk-
through or pendent teaching，(2)lead-through leaching, or(3)Jfline programming. Each
robot normally comes with onf or more of these types of programming systems. Each has advan
tapes and disadvantages depending on the application being considered 传统机器人的程序通常采用以下三个形式之一：（1）操作器编程（2）导入式程序（3）脱机程序。每个机器人通常具有一个或更多这种程序类型的系统。每种形式的优缺点依不同的应用而不同
Walk-through or pendant teaching or programming is the most commonly used robot pro-
gramming procedure. In this type of programming，a pendant that normally contains one or snore
Joy一、ticks is used to move the -robot throughout its work envelope. At the end of each teach
point，the current robot position is saved. As was the case with N(一machines。some robot- allow
the programmer the option of defining the path between points. Again。these robots are called
continuous-path systems. Systems that do not allow the user to specify the path taken are called
point-to-point systems. Many continuous-path robots allow the user to define the path:。tale
(:artesian spac。甲Circular moves。as the name implies take place in circles ;along one of the major
planes. 6 The path that the robot takes using a joint-interpolation scheme is not always easy ire de-
termine. In joint interpolation，each of the robot joints are moved at a constant rate、。、that all
the axes start and stop at the same time. T For Cartesian robots，straight-line and joint一interpola
’Lion schemes produce the same path. For the other types of robot
systems。this is not true. 操作器编程最常用的机器人编程方式，
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这种类型编程，A pendant 通常包括几个用于使机器人在它工作范围移动的操作杆。在每个工序的终点，机器人的位置被保存。像数控机床一样，一些机器人允许编程人员选择定义两点间路线。另外，这些机器人被称为连续路径系统。不允许用户指定路径系统称为点到点系统。许多连续路径机器人允许用户定义在两个主要点之间连线的路径。那么，用户可以定义直线、圆弧的、指定某一位置的路径。在直线路径中，机器人在笛卡尔空间中，以直线两两端点移动。顾名思义，圆弧运动就是在某一主平面上沿圆弧运动。机器人以插入某处方案执行路线很不容易确定。在接点插补中，机器人的每一关节都以一恒定速度移动以保证所有的轴同时启动和停止。对于笛卡尔机器人，直线和结点插补方案产生相同的路径。对于其他类型机器人系统，这不成立。
Pendant programming systems normally have supplemental commands that allow the pro
grammer to perform auxiliary operations such as close the end一。ffector，wait，pause。check the
status of a switch or several switches。return a complete status to a machine，etc. The program-
mer walks the robot through the necessary steps required to perform a task，saving each interme-
diate step along with the auxiliary information. The teach pendant used :o program the Fanuc
M1 robot is shown in Fig. 5. 4，
操作器编程系统通常提供允许编程人完成辅助操作的命令，如关闭终端，等待，暂停，检查一种或几种转换状态，返回全部状况给机床，等等。编程人员使机器人走过要求完成一项工作的必要步骤，保存每一中间步骤和辅助的信息。用于给fanuc M1机器人编程的操作器，如图5.4所示。
Lead-through programming is one of the simplest programming procedures used to program
a robot.八、the name implies。the programmer simply physically moves the robot through the re-
quired sequence of motions. The robot controller records the position and speed。、the program-
mer leads the robot through the (:peration. The power is normally shut down while the t)rogram-
mer is leading the robot through the necessary moves，so that the robot will not generate any
`glitches\might injure the operator. Although lead-through programming is the easiest pro-
gramming method to learn，it does introduce some severe limitations to the robot's application.
For instance, when the robot is being led through the operation，the operator carries the weight
of the robot. The gears, motor and lead screw may introduce a false resolver reading，so that
when the weight of the robot，and perhaps a part，must be supported by the system the actual
end-effector position may be significantly different from the position taught to the robot. ` Anoth-
er problem with this method is that since the position and speed are recorded as the robot is toeing
led through the desired path，a significant amount of data is generated. This data must be stored
arid later recalled. Storage and retrieval space and time can cause the programrner problem，甲Ye:一
haps the major problem associated with lead-through programming is that the human who leads
the robot through the process is capable of only finite accuracy and may introduce inconsistenciel,
into the proce二甲Human-indured errors and inaccuracies eliminate some of the major advantagesof using robots. 导入式程序是最简单的机器人程序设计过程之一。顾名思义，编程人简单实际的是机器人沿着路线轮廓移动。机器人控制器反馈它的位置并且像编程人一
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样引导机器人完成操作。当编程人员负责引导机器人完成必要动作时，动力降低以便机器人不产生伤害操作人员。尽管导入式编程是最容易学的程序语言，但它也反映了一些机器人应用的限制，例如，当机器人正在进行操作时，操作人员搬运机器人。齿轮，电动机和丝杠会引入错误的运算读数值，这样当机器人的重量，也许是工件的重量必须由系统承担时，端部执行器的 实际位置可能与机器人的训练位置有很大差异。这种方式的另一个问题是由于在机器人的位置和速度被记录指引通过期望的路径是，大量的数据信号产生，这些数据不需存储后调用，存储和从新调用的空间和时间可能会引起汇编器问题 ，也许与导入方程式协调的主要问题是引导机器人完成工艺过程的人能够做有限的准确可能引起工艺过程的不协调，人为错误和不准确性削弱了使用机器人的优点。
tages over both lead-through and teach programming. The principles of offline programming are similar to using an offline language such as APT for NC programming. Several languages have
been developed at major universities as well in industry throughout the C3. S,，Examples of these
languages include VAL created by LTnimation，AR-Basic by American Robot Corp，ARMBA
SIC by Microbot，Inc,used. AR-Basic allows and the ANIL by IB141. To illustrate offline programming，AR-Basic will be user to， (1)Define the position of the robot (2)Control the motion of the robot
(3)Input and output control data脱机程序对机器人来说是 相对较新的技术，它能够提供导入式和控制板编程的一些优点。脱机程序的规律与对数控技术应用脱机语言类似。几种脱机语言已经在美国的主要大学和工业种发展。这些语言主要有unimation的VAL,美国机器人协会的ar-basic,microbot,lnc的arm-basic和ibm的ami，以ar-basic为例解释说明脱机语言，ar-bisic允许用户 定义机器人的位置
AR familiar Basic is prirnitive BASIC'. data
an interpretive BASIS system that employs many of the same functions
as the
programming language. In AR- Rasic，points and tools are defined。、。set of
Points are defined using the convention: X,Y .z，R, P，Y控制机器人的运动 输入输出控制数据
ar-basis系统的细化，他采用的许多相同的功能采用了我们熟悉的basic程序语言，在ar-basic中，点和刀具定义为初始化数据点由以下协议定义 x,y,z,r,y
where X , Y，and Z are the C artexian spa
roll，pitch and yaw of the tool. Each of the point definitions relative points (again defined in a similar manner as for NC can he specified as either absolute the nc machines)，
X,,y,z表示由端部执行器占据笛卡尔空间，r p y表示刀具旋转进给和yaw.每个点的定义既可以是绝对的夜可以是相对的（也和数控机床有相似的规则）
Tool-definition commands are used to define the location of any tooling that i,iigl,t be re
quired for an operation. The tool definition specifies the midpoint of the robot's fac}_,)late，and
consists of the same six data used to describe a point. 。
刀具定义命令常用于定义操作要求的所有刀具的位置，刀具定义指定机器人面板的中心，包括等定义点相同的六个数据
The robot;。set into motion using。set of motion control commands. The motion commands allows the programmer to;
(1)Define the type of path to take (Straight-line，circular，or joint-coordinated)
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(2)Define the end of tooling speed (3)Define the frame of reference (4)Describe the current tool tip
AR-Basic also allow the programmer to input and output data to any device to which the
robot is interfaced. Analog and digital data can be sent to A/T7 converters，D/A converters，par-
allel，or serial I/U ports. Table 5-1 contains Point and tool definition examples. Table 5-2 con-
tains AR-Basic examples for motion control.
机器人通过运动控制命令执行运动，运动命令允许编程人定义采取的路径类型（直线，圆弧，结点插补） 定义刀具的最终速度 定义参考柜架 定义刀尖的类别
AR-Basic也允许程序编译人员输入，输出数据到与机器人连接的设备，模拟的数字信号可以传送到模—数转换转换器并行的或串行的I/O口。表5—1是点和刀具定义的举例。表5—2举例说明了AR-Basic的运动控制。
Unit 6 Group Technology
Group technology is a manufacturing philosophy that involves identifying and grouping components having similar or related attributes in order to take advantage of their similarities in the design and/or manufacturing phases of the production cycle.（成组技术是一个制造业的哲学概念，它涉及到具有相似或相关属性零件的标识和分组，这样我们可利用产品的相似性这种特点，把这种技术应用于产品生产的设计制造过程中）
Historically, this novel principle first came into being here in the United States in 1920,when Frederick Taylor supported the idea of grouping parts that required special operations.（历史上，这个新颖的理论是在1920年Frederick Taylor支持将需要特殊加工的零件成组而被第一次提出的）He was followed by the Jones and Lamson Machine Company
in the early 1920s,which used a crude form of group technology to build machine tools.（在1920年早期，Jones andLamson公司继承他的思想，他们用粗糙的成组技术形式生产工具）Their manufacturing approach involved such principles as departmentalization by product rather than by process and minimizing the routing paths.（他们使用这一原理的生产方法就是以产品来划分部门，而不是以工艺或缩短路径来划分部门）Today, group technology is implemented through the application of well-structured classification and coding systems and supporting software to take advantage of the similarities of components.（现在，成组技术正在通过运用结构分类、代码系统和支持软件来利用相似零件的优势进一步实施）
Reasons for Adopting Group Technology
Modern manufacturing industries are racing a lot of challenges caused by growing international competition and fast-changing market demands. These challenges, which are exemplified in the following list, have been and can be successfully met by group technology:（现在制造工业正在接受由日益激烈的国际化竞争和多变的市场要求带来的挑战。这些挑战可以用成组技术成功地解决，如下所列：）
*There is an industrial trend toward low-volume production(small lot sizes)of a wider variety of products in order to meet the rising demand for specially ordered products in today's affluent societies. In other words, the share of the batch-type production in industry is growing day after day, and it is anticipated that 75 percent of all manufactured parts will be in small lot sizes.（工业生产发展的趋势是产品的品种更加多样而每种产品生产的数量减少，以此来满足当今繁荣社会不断增长的专门订货。换句话说，工厂中分批式生产的比例越来越高，预计将来全部的75%是小批量的。）
*As a result of the first factor, the conventional shop organization is becoming very inefficient and obsolete because of the wasteful routing paths of the products between the various machine tool departments.（作为第一个因素的结果，传统的车间机构变得越来越低效和过时，因为产品在不同的工具部传送的时候浪费时间）
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