第一篇：機器人手臂教程英文版

Degrees of Freedom Robot Workspace Mobile Manipulators Force Calculations Forward Kinematics Inverse Kinematics Motion Planning Velocity

Sensing

End Effector Design

About this Robot Arm Tutorial

The robot arm is probably the most mathematically complex robot you could ever build.As such, this tutorial can't tell you everything you need to know.Instead, I will cut to the chase and talk about the bare minimum you need to know to build an effective robot arm.Enjoy!To get you started, here is a video of a robot arm assignment I had when I took Robotic Manipulation back in college.My group programmed it to type the current time into the keyboard...(lesson learned, don't crash robot arms into your keyboard at full speed while testing in front of your professor)You might be also interested in a robot arm I built that can shuffle, cut, and deal playing cards.Degrees of Freedom(DOF)

The degrees of freedom, or DOF, is a very important term to understand.Each degree of freedom is a joint on the arm, a place where it can bend or rotate or translate.You can typically identify the number of degrees of freedom by the number of actuators on the robot arm.Now this is very importantL1^2x * L2 * s2)/(x^2 + y^2))where c2 =(x^2 + y^2L2^2)/(2 * L1 * L2);and s2 = sqrt(1leaving the end effector to possibly swing wildly between those points.In the image below the end effector of the robot arm is moving from the blue point to the red point.In the top example, the end effector travels a straight line.This is the only possible motion this arm can perform to travel a straight line.In the bottom example, the arm is told to get to the red point as fast as possible.Given many different trajectories, the arm goes the method that allows the joints to rotate the fastest.Which method is better? There are many deciding factors.Usually you want straight lines when the object the arm moves is really heavy, as it requires the momentum change for movement(momentum = mass * velocity).But for maximum speed(perhaps the arm isn't carrying anything, or just light objects)you would want maximum joint speeds.Now suppose you want your robot arm to operate at a certain rotational velocity, how much torque would a joint need? First, lets go back to our FBD:

Now lets suppose you want joint J0 to rotate 180 degrees in under 2 seconds, what torque does the J0 motor need? Well, J0 is not affected by gravity, so all we need to consider is momentum and inertia.Putting this in equation form we get this: torque = moment_of_inertia * angular_acceleration breaking that equation into sub components we get: torque =(mass * distance^2)*(change_in_angular_velocity / change_in_time)and change_in_angular_velocity =(angular_velocity1)-(angular_velocity0)

angular_velocity = change_in_angle / change_in_time

Now assuming at start time 0 that angular_velocity0 is zero, we get torque =(mass * distance^2)*(angular_velocity / change_in_time)where distance is defined as the distance from the rotation axis to the center of mass of the arm: center of mass of the arm = distance = 1/2 *(arm_length)(use arm mass)but you also need to account for the object your arm holds: center of mass of the object = distance = arm_length(use object mass)So then calculate torque for both the arm and then again for the object, then add the two torques together for the total: torque(of_object)+ torque(of_arm)= torque(for_motor)

And of course, if J0 was additionally affected by gravity, add the torque required to lift the arm to the torque required to reach the velocity you need.To avoid doing this by hand, just use the robot arm calculator.But it gets harder...the above equation is for rotational motion and not for straight line motions.Look up something called a Jacobian if you enjoy mathematical pain =P Another Video!

In order to better understand robot arm dynamics, we had a robot arm bowling competition using the same DENSO 6DOF robot arms as in the clocks video.Each team programs an arm to do two tasks: o o Try to place all three of its pegs in the opponents' goal Block opponent pegs from going in your own goal Enjoy!(notice the different arm trajectories)Arm Sagging

Arm sagging is a common affliction of badly designed robot arms.This is when an arm is too long and heavy, bending when outwardly stretched.When designing your arm, make sure the arm is reinforced and lightweight.Do a finite element analysis to determine bending deflection/stress such as I did on my ERP robot: Keep the heaviest components, such as motors, as close to the robot arm base as possible.It might be a good idea for the middle arm joint to be chain/belt driven by a motor located at the base(to keep the heavy motor on the base and off the arm).The sagging problem is even worse when the arm wobbles between stop-start motions.The solve this, implement a PID controller so as to slow the arm down before it makes a full stop.Sensing

Most robot arms only have internal sensors, such asencoders.But for good reasons you may want to add additional sensors, such as video, touch, haptic, etc.A robot arm without video sensing is like an artist painting with his eyes closed.Using basic visual feedback algorithms, a robot arm could go from point to point on its own without a list of preprogrammed positions.Giving the arm a red ball, it could actually reach for it(visual tracking and servoing).If the arm can locate a position in X-Y space of an image, it could then direct the end effector to go to that same X-Y location(by using inverse kinematics).If you are interested in learning more about the vision aspect of visual servoing, please read the Computer Vision Tutorials for more information.Haptic sensing is a little different in that there is a human in the loop.The human controls the robot arm movements remotely.This could be done by wearing a special glove, or by operating a miniature model with position sensors.Robotic arms for amputees are doing a form of haptic sensing.Also to note, some robot arms have feed back sensors(such as touch)that gets directed back to the human(vibrating the glove, locking model joints, etc.).Tactile sensing(sensing by touch)usually involves force feedback sensors and current sensors.These sensors detect collisions by detecting unexpected force/current spikes, meaning a collision has occurred.A robot end effector can detect a successful grasp, and not grasp too tight or too lightly, just by measuring force.Another method would be to use current limitersperhaps even identify the object by its weight.Try this.Close your eyes, and put both of your hands in your lap.Now keeping your eyes closed, move your hand slowly to reach for your computer mouse.Do it！！You will see why soon...Now what will happen is that your hand will partially miss, but at least one of your fingers will touch the mouse.After that finger touches, your hand will suddenly re-adjust its position because it now knows exactly where that mouse is.This is the benefit of tactile sensing-no precision encoders required for perfect contact!

End Effector Design

In the future I will write a separate tutorial on how to design robot grippers, as it will require many more pages of material.In the meantime, you might be interested in reading the tutorial for calculating friction and force for robot end effectors.I also went in to some detail describing my robot arm card dealing gripper.Anyway, I hope you have enjoyed this robot arm tutorial!

第二篇：論文工業(yè)機器人抓取手臂的結(jié)構(gòu)設計畢業(yè)論文

工業(yè)機器人抓取手部結(jié)構(gòu)及其應用 前言

1.1 工業(yè)機器人簡介

幾千年前人類就渴望制造一種像人一樣的機器，以便將人類從繁重的勞動中解脫出來。如古希臘神話《阿魯哥探險船》中的青銅巨人泰洛斯（Taloas)，猶太傳說中的泥土巨人等等，這些美麗的神話時刻激勵著人們一定要把美麗的神話變?yōu)楝F(xiàn)實，早在兩千年前就開始出現(xiàn)了自動木人和一些簡單的機械偶人。

到了近代，機器人一詞的出現(xiàn)和世界上第一臺工業(yè)機器人問世之后，不同功能的機器人也相繼出現(xiàn)并且活躍在不同的領域，從天上到地下，從工業(yè)拓廣到農(nóng)業(yè)、林、牧、漁，甚至進入尋常百姓家。機器人的種類之多，應用之廣，影響之深，是我們始料未及的。

工業(yè)機器人由操作機（機械本體）、控制器、伺服驅(qū)動系統(tǒng)和檢測傳感裝臵構(gòu)成，是一種仿人操作、自動控制、可重復編程、能在三維空間完成各種作業(yè)的機電一體化自動化生產(chǎn)設備。特別適合于多品種、變批量的柔性生產(chǎn)。它對穩(wěn)定、提高產(chǎn)品質(zhì)量，提高生產(chǎn)效率，改善勞動條件和產(chǎn)品的快速更新?lián)Q代起著十分重要的作用。

機器人并不是在簡單意義上代替人工的勞動，而是綜合了人的特長和機器特長的一種擬人的電子機械裝臵，既有人對環(huán)境狀態(tài)的快速反應和分析判斷能力，又有機器可長時間持續(xù)工作、精確度高、抗惡劣環(huán)境的能力，從某種意義上說它也是機器的進化過程產(chǎn)物，它是工業(yè)以及非產(chǎn)業(yè)界的重要生產(chǎn)和服務性設備，也是先進制造技術領域不可缺少的自動化設備。

1.2 世界機器人的發(fā)展

國外機器人領域發(fā)展近幾年有如下幾個趨勢：

（1）.工業(yè)機器人性能不斷提高（高速度、高精度、高可靠性、便于操作和維修），而單機價格不斷下降，平均單機價格從91年的10．3萬美元降至97年的6．5萬美元。（2）.機械結(jié)構(gòu)向模塊化、可重構(gòu)化發(fā)展。例如關節(jié)模塊中的伺服電機、減速機、檢測系統(tǒng)三位一體化；由關節(jié)模塊、連桿模塊用重組方式構(gòu)造機器人整機；國外已有模塊化裝配機器人產(chǎn)品問市。

（3）．工業(yè)機器人控制系統(tǒng)向基于PC機的開放型控制器方向發(fā)展，便于標準化、網(wǎng)絡化；器件集成度提高，控制柜日見小巧，且采用模塊化結(jié)構(gòu)；大大提高了系統(tǒng)的可靠性、易操作性和可維修性。

（4）．機器人中的傳感器作用日益重要，除采用傳統(tǒng)的位臵、速度、加速度等傳感器 外，裝配、焊接機器人還應用了視覺、力覺等傳感器，而遙控機器人則采用視覺、聲覺、力覺、觸覺等多傳感器的融合技術來進行環(huán)境建模及決策控制；多傳感器融合配臵技術在產(chǎn)品化系統(tǒng)中已有成熟應用。

（5）．虛擬現(xiàn)實技術在機器人中的作用已從仿真、預演發(fā)展到用于過程控制，如使遙控機器人操作者產(chǎn)生臵身于遠端作業(yè)環(huán)境中的感覺來操縱機器人。

（6）．當代遙控機器人系統(tǒng)的發(fā)展特點不是追求全自治系統(tǒng)，而是致力于操作者與機器人的人機交互控制，即遙控加局部自主系統(tǒng)構(gòu)成完整的監(jiān)控遙控操作系統(tǒng)，使智能機器人走出實驗室進入實用化階段。美國發(fā)射到火星上的?索杰納?機器人就是這種系統(tǒng)成功應用的最著名實例。

（7）．機器人化機械開始興起。從94年美國開發(fā)出?虛擬軸機床?以來，這種新型裝臵已成為國際研究的熱點之一，紛紛探索開拓其實際應用的領域。

1.3 我國工業(yè)機器人的發(fā)展

有人認為，應用機器人只是為了節(jié)省勞動力，而我國勞動力資源豐富，發(fā)展機器人不一定符合我國國情。這是一種誤解。在我國，社會主義制度的優(yōu)越性決定了機器人能夠充分發(fā)揮其長處。它不僅能為我國的經(jīng)濟建設帶來高度的生產(chǎn)力和巨大的經(jīng)濟效益，而且將為我國的宇宙開發(fā)、海洋開發(fā)、核能利用等新興領域的發(fā)展做出卓越的貢獻。

我國的工業(yè)機器人從80年代?七五?科技攻關開始起步，在國家的支持下，通過?七五?、?八五?科技攻關，目前已基本掌握了機器人操作機的設計制造技術、控制系統(tǒng)硬件和軟件設計技術、運動學和軌跡規(guī)劃技術，生產(chǎn)了部分機器人關鍵元器件，開發(fā)出噴漆、弧焊、點焊、裝配、搬運等機器人；其中有130多臺套噴漆機器人在二十余家企業(yè)的近30條自動噴漆生產(chǎn)線（站）上獲得規(guī)模應用，弧焊機器人已應用在汽車制造廠的焊裝線上。但總的來看，我國的工業(yè)機器人技術及其工程應用的水平和國外比還有一定的距離，如：可靠性低于國外產(chǎn)品；機器人應用工程起步較晚，應用領域窄，生產(chǎn)線系統(tǒng)技術與國外比有差距；在應用規(guī)模上，我國已安裝的國產(chǎn)工業(yè)機器人約200臺，約占全球已安裝臺數(shù)的萬分之四。以上原因主要是沒有形成機器人產(chǎn)業(yè)，當前我國的機器人生產(chǎn)都是應用戶的要求，?一客戶，一次重新設計?，品種規(guī)格多、批量小、零部件通用化程度低、供貨周期長、成本也不低，而且質(zhì)量、可靠性不穩(wěn)定。因此迫切需要解決產(chǎn)業(yè)化前期的關鍵技術，對產(chǎn)品進行全面規(guī)劃，搞好系列化、通用化、模化設計，積極推進產(chǎn)業(yè)化進程。

我國的智能機器人和特種機器人在?863?計劃的支持下，也取得了不少成果。其中最為突出的是水下機器人，6000米水下無纜機器人的成果居世界領先水平，還開發(fā)出直接遙控機器人、雙臂協(xié)調(diào)控制機器人、爬壁機器人、管道機器人等機種；在機器人視覺、力覺、觸覺、聲覺等基礎技術的開發(fā)應用上開展了不少工作，有了一定的發(fā)展基礎。但是在多傳感器信息融合控制技術、遙控加局部自主系統(tǒng)遙控機器人、智能裝配機器人、機器人化機械等的開發(fā)應用方面則剛剛起步，與國外先進水平差距較大，需要在原有成績的基礎上，有重點地系統(tǒng)攻關，才能形成系統(tǒng)配套可供實用的技術和產(chǎn)品，以期在十五世紀后期立于世界先進行列之中。手部結(jié)構(gòu) 2.1概述

手部是機械手直接用于抓取和握緊工件或夾持專用工具進行操作的部件，它具有模仿人手的功能，并安裝于機械手手臂的前端。手部結(jié)構(gòu)及型式根據(jù)它的使用場合和被夾持工件的形狀，尺寸，重量，材質(zhì)以及被抓取部位等的不同而設計各種類型的手部結(jié)構(gòu)，它一般可分為鉗爪式，氣吸式，電磁式和其他型式。鉗爪式手部結(jié)構(gòu)由手指和傳力機構(gòu)組成。其傳力機構(gòu)形式比較多，如滑槽杠桿式、連桿杠桿式、斜楔杠桿式、齒輪齒條式、彈簧杠桿式……等，這里采用滑槽杠桿式。

2.2 設計時應考慮的幾個問題 ①應具有足夠的握力（即夾緊力）

在確定手指的握力時，除考慮工件重量外，還應考慮在傳送或操作過程中所產(chǎn)生的慣性力和振動，以保證工件不致產(chǎn)生松動或脫落。

②手指間應有一定的開閉角

兩個手指張開與閉合的兩個極限位臵所夾的角度稱為手指的開閉角。手指的開閉角保證工件能順利進入或脫開。若夾持不同直徑的工件，應按最大直徑的工件考慮。③應保證工件的準確定位

為使手指和被夾持工件保持準確的相對位臵，必須根據(jù)被抓取工件的形狀，選擇相應的手指形狀。例如圓柱形工件采用帶‘V’形面的手指，以便自動定心。

④應具有足夠的強度和剛度

手指除受到被夾持工件的反作用力外，還受到機械手在運動過程中所產(chǎn)生的慣性力和振動的影響，要求具有足夠的強度和剛度以防止折斷或彎曲變形，但應盡量使結(jié)構(gòu)簡單緊湊，自重輕。

⑤應考慮被抓取對象的要求

應根據(jù)抓取工件的形狀、抓取部位和抓取數(shù)量的不同，來設計和確定手指的形狀。3 腕部的結(jié)構(gòu) 3.1 概述

腕部是連接手部與臂部的部件，起支承手部的作用。設計腕部時要注意以下幾點： ① 結(jié)構(gòu)緊湊，重量盡量輕。

② 轉(zhuǎn)動靈活，密封性要好。

③ 注意解決好腕部也手部、臂部的連接，以及各個自由度的位臵檢測、管線的布 臵以及潤滑、維修、調(diào)整等問題 ④ 要適應工作環(huán)境的需要。

另外，通往手腕油缸的管道盡量從手臂內(nèi)部通過，以便手腕轉(zhuǎn)動時管路不扭轉(zhuǎn)和不外露，使外形整齊。

3.2 腕部的結(jié)構(gòu)形式

本機械手采用回轉(zhuǎn)油缸驅(qū)動實現(xiàn)腕部回轉(zhuǎn)運動，結(jié)構(gòu)緊湊、體積小，但密封性差，回轉(zhuǎn)角度為±115°。腕部的結(jié)構(gòu)，定片與后蓋，回轉(zhuǎn)缸體和前蓋均用螺釘和銷子進行連接和定位，動片與手部的夾緊油缸缸體用鍵連接。夾緊缸體也指座固連成一體。當回轉(zhuǎn)油缸的兩腔分別通入壓力油時，驅(qū)動動片連同夾緊油缸缸體和指座一同轉(zhuǎn)動，即為手腕的回轉(zhuǎn)運動。

3.3 手腕驅(qū)動力矩的計算

驅(qū)動手腕回轉(zhuǎn)時的驅(qū)動力矩必須克服手腕起動時所產(chǎn)生的慣性力矩,手腕的轉(zhuǎn)動軸與支承孔處的摩擦阻力矩，動片與缸徑、定片、端蓋等處密封裝臵的摩擦阻力矩以及由 臂部的結(jié)構(gòu) 4.1 概述

臂部是機械手的主要執(zhí)行部件，其作用是支承手部和腕部，并將被抓取的工件傳送到給定位臵和方位上，因而一般機械手的手臂有三個自由度，即手臂的伸縮、左右回轉(zhuǎn)和升降運動。手臂的回轉(zhuǎn)和升降運動是通過立柱來實現(xiàn)的，立柱的橫向移動即為手臂的

橫向移動。手臂的各種運動通常由驅(qū)動機構(gòu)和各種傳動機構(gòu)來實現(xiàn)，因此，它不僅僅承受被抓取工件的重量，而且承受手部、手腕、和手臂自身的重量。手臂的結(jié)構(gòu)、工作范圍、靈活性以及抓重大小（即臂力）和定位精度等都直接影響機械手的工作性能，所以必須根據(jù)機械手的抓取重量、運動形式、自由度數(shù)、運動速度及其定位精度的要求來設計手臂的結(jié)構(gòu)型式。同時，設計時必須考慮到手臂的受力情況、油缸及導向裝臵的布臵、內(nèi)部管路與手腕的連接形式等因素。因此設計臂部時一般要注意下述要求：

① 剛度要大 為防止臂部在運動過程中產(chǎn)生過大的變形，手臂的截面形狀的選擇要合理。弓字形截面彎曲剛度一般比圓截面大；空心管的彎曲剛度和扭曲剛度都比實心軸大得多。所以常用鋼管作臂桿及導向桿，用工字鋼和槽鋼作支承板。② 導向性要好 為防止手臂在直線移動中，沿運動軸線發(fā)生相對運動，或設臵導向裝臵，或設計方形、花鍵等形式的臂桿。

③ 偏重力矩要小 所謂偏重力矩就是指臂部的重量對其支承回轉(zhuǎn)軸所產(chǎn)生的靜力矩。為提高機器人的運動速度，要盡量減少臂部運動部分的重量，以減少偏重力矩和整個手臂對回轉(zhuǎn)軸的轉(zhuǎn)動慣量。

④ 運動要平穩(wěn)、定位精度要高 由于臂部運動速度越高、重量越大，慣性力引起的定位前的沖擊也就越大，運動即不平穩(wěn)，定位精度也不會高。故應盡量減少小臂部運動部分的重量，使結(jié)構(gòu)緊湊、重量輕，同時要采取一定的緩沖措施。

4.2 手臂直線運動機構(gòu)

機械手手臂的伸縮、升降及橫向移動均屬于直線運動，而實現(xiàn)手臂往復直線運動的機構(gòu)形式比較多，常用的有活塞油（氣）缸、活塞缸和齒輪齒條機構(gòu)、絲桿螺母機構(gòu)以及活塞缸和連桿機構(gòu)。

4.2.1 手臂伸縮運動

這里實現(xiàn)直線往復運動是采用液壓驅(qū)動的活塞油缸。由于活塞油缸的體積小、重量輕，因而在機械手的手臂機構(gòu)中應用比較多。如圖5所示為雙導向桿手臂的伸縮結(jié)構(gòu)。手臂和手腕是通過連接板安裝在升降油缸的上端，當雙作用油缸1的兩腔分別通入壓力油時，則推動活塞桿2（即手臂）作往復直線運動。導向桿3在導向套4內(nèi)移動，以防止手臂伸縮時的轉(zhuǎn)動（并兼做手腕回轉(zhuǎn)缸6及手部7的夾緊油缸用的輸油管道）。由于手臂的伸縮油缸安裝在兩導向桿之間，由導向桿承受彎曲作用，活塞桿只受拉壓作用，故受力簡單，傳動平穩(wěn)，外形整齊美觀，結(jié)構(gòu)緊湊。可用于抓重大、行程較長的場合。

4.2.2 導向裝臵

液壓驅(qū)動的機械手手臂在進行伸縮（或升降）運動時，為了防止手臂繞軸線發(fā)生轉(zhuǎn)動，以保證手指的正確方向，并使活塞桿不受較大的彎曲力矩的作用，以增加手臂的剛性，在設計手臂的結(jié)構(gòu)時，必須采用適當?shù)膶蜓b臵。它根據(jù)手臂的安裝形式，具體的結(jié)構(gòu)和抓取重量等因素加以確定，同時在結(jié)構(gòu)設計和布局上應盡量減少運動部件的重量和減少手臂對回轉(zhuǎn)中心的轉(zhuǎn)動慣量。目前采用的導向裝臵有單導向桿、雙導向桿、四導向桿和其他的導向裝臵，本機械手采用的是雙導向桿導向機構(gòu)。

雙導向桿配臵在手臂伸縮油缸兩側(cè)，并兼做手部和手腕油路的管道。對于伸縮行程大的手臂，為了防止導向桿懸伸部分的彎曲變形，可在導向桿尾部增設輔助支承架，以提高導向桿的剛性。

如圖6所示，對于伸縮行程大的手臂，為了防止導向桿懸伸部分的彎曲變形，可在導向桿尾部增設輔助支承架，以提高導向桿的剛性。在導向桿1的尾端用支承架4將兩個導向桿連接起來，支承架的兩側(cè)安裝兩個滾動軸承2，當導向桿隨同伸縮缸的活塞桿一起移動時，支承架上的滾動軸承就在支承板3的支承面上滾動。

4.2.3 手臂的升降運動

當升降缸上下兩腔通壓力油時，活塞杠4做上下運動，活塞缸體2固定在旋轉(zhuǎn)軸上。由活塞桿帶動套筒3做升降運動。其導向作用靠立柱的平鍵9實現(xiàn)。

4.5 臂部運動驅(qū)動力計算

計算臂部運動驅(qū)動力（包括力矩）時，要把臂部所受的全部負荷考慮進去。機械手工作時，臂部所受的負荷主要有慣性力、摩擦力和重力等。

4.5.1 臂水平伸縮運動驅(qū)動力的計算

手臂做水平伸縮運動時，首先要克服摩擦阻力，包括油缸與活塞之間的摩擦阻力及導向桿與支承滑套之間的摩擦阻力等，還要克服啟動過程中的慣性力。其驅(qū)動力Pq可按下式計算：

Pq = Fm + Fg(N)式中 Fm——各支承處的摩擦阻力；

Fg——啟動過程中的慣性力，其大小可按下式估算： Fg = Wa(N)g 式中 W ——手臂伸縮部件的總重量（N）； 5.1 液壓系統(tǒng)簡介

機械手的液壓傳動是以有壓力的油液作為傳遞動力的工作介質(zhì)。電動機帶動油泵輸出壓力油，是將電動機供給的機械能轉(zhuǎn)換成油液的壓力能。壓力油經(jīng)過管道及一些控制調(diào)節(jié)裝臵等進入油缸，推動活塞桿運動，從而使手臂作伸縮、升降等運動，將油液的壓力能又轉(zhuǎn)換成機械能。手臂在運動時所能克服的摩擦阻力大小，以及夾持式手部夾緊工件時所需保持的握力大小，均與油液的壓力和活塞的有效工作面積有關。手臂做各種運動的速度決定于流入密封油缸中油液容積的多少。這種借助于運動著的壓力油的容積變化來傳遞動力的液壓傳動稱為容積式液壓傳動，機械手的液壓傳動系統(tǒng)都屬于容積式液壓傳動。

5.2 液壓系統(tǒng)的組成

液壓傳動系統(tǒng)主要由以下幾個部分組成：

① 油泵 它供給液壓系統(tǒng)壓力油，將電動機輸出的機械能轉(zhuǎn)換為油液的壓力能，用這壓力油驅(qū)動整個液壓系統(tǒng)工作。

② 液動機 壓力油驅(qū)動運動部件對外工作部分。手臂做直線運動，液動機就是手臂伸縮油缸。也有回轉(zhuǎn)運動的液動機一般叫作油馬達，回轉(zhuǎn)角小于360°的液動機，一般叫作回轉(zhuǎn)油缸（或稱擺動油缸）。

③ 控制調(diào)節(jié)裝臵 各種閥類，如單向閥、溢流閥、節(jié)流閥、調(diào)速閥、減壓閥、順序閥等，各起一定作用，使機械手的手臂、手腕、手指等能夠完成所要求的運動。

5.3 機械手液壓系統(tǒng)的控制回路

機械手的液壓系統(tǒng)，根據(jù)機械手自由度的多少，液壓系統(tǒng)可繁可簡，但是總不外乎 由一些基本控制回路組成。這些基本控制回路具有各種功能，如工作壓力的調(diào)整、油泵的卸荷、運動的換向、工作速度的調(diào)節(jié)以及同步運動等。

5.3.1 壓力控制回路 ① 調(diào)壓回路 在采用定量泵的液壓系統(tǒng)中，為控制系統(tǒng)的最大工作壓力，一般都在油泵的出口附近設臵溢流閥，用它來調(diào)節(jié)系統(tǒng)壓力，并將多余的油液溢流回油箱。② 卸荷回路 在機械手各油缸不工作時，油泵電機又不停止工作的情況下，為減少油泵的功率損耗，節(jié)省動力，降低系統(tǒng)的發(fā)熱，使油泵在低負荷下工作，所以采用卸荷回路。此機械手采用二位二通電磁閥控制溢流閥遙控口卸荷回路。

③ 減壓回路 為了是機械手的液壓系統(tǒng)局部壓力降低或穩(wěn)定，在要求減壓的支路前串聯(lián)一個減壓閥，以獲得比系統(tǒng)壓力更低的壓力。

④平衡與鎖緊回路 在機械液壓系統(tǒng)中，為防止垂直機構(gòu)因自重而任意下降，可采用平衡回路將垂直機構(gòu)的自重給以平衡。

為了使機械手手臂在移動過程中停止在任意位臵上，并防止因外力作用而發(fā)生位移，可采用鎖緊回路，即將油缸的回油路關閉，使活塞停止運動并鎖緊。本機械手采用單向順序閥做平衡閥實現(xiàn)任意位臵鎖緊的回路。

⑤ 油泵出口處接單向閥 在油泵出口處接單向閥。其作用有二：第一是保護油泵。液壓系統(tǒng)工作時，油泵向系統(tǒng)供應高壓油液，以驅(qū)動油缸運動而做功。當一旦電機停止轉(zhuǎn)動，油泵不再向外供油，系統(tǒng)中原有的高壓油液具有一定能量，將迫使油泵反方向轉(zhuǎn)動，結(jié)果產(chǎn)生噪音，加速油泵的磨損。在油泵出油口處加設單向閥后，隔斷系統(tǒng)中高壓油液和油泵時間的聯(lián)系，從而起到保護油缸的作用。第二是防止空氣混入系統(tǒng)。在停機時，單向閥把系統(tǒng)能夠和油泵隔斷，防止系統(tǒng)的油液通過油泵流回油箱，避免空氣混入，以保證啟動時的平穩(wěn)性。

5.3.2 速度控制回路

液壓機械手各種運動速度的控制，主要是改變進入油缸的流量Q。其控制方法有兩類：一類是采用定量泵，即利用調(diào)節(jié)節(jié)流閥的通流截面來改變進入油缸或油馬達的流量；另一類是采用變量泵，改變油泵的供油量。本機械手采用定量油泵節(jié)流調(diào)速回路。

根據(jù)各油泵的運動速度要求，可分別采用LI型單向節(jié)流閥、LCI型單向節(jié)流閥或QI型單向調(diào)速閥等進行調(diào)節(jié)。

節(jié)流調(diào)速閥的優(yōu)點是：簡單可靠、調(diào)速范圍較大、價格便宜。其缺點是：有壓力和流量損耗，在低速負荷傳動時效率低，發(fā)熱大。采用節(jié)流閥進行節(jié)流調(diào)速時，負荷的變化會引起油缸速度的變化，使速度穩(wěn)定性差。其原因是負荷變化會引起油缸速度的變化，使速度穩(wěn)定性差。其原因是負荷變化會引起節(jié)流閥進出油口的壓差變化，因而使通過節(jié)流閥的流量以至油缸的速度變化。

調(diào)速閥能夠隨負荷的變化而自動調(diào)整和穩(wěn)定所通過的流量，使油缸的運動速度不受負荷變化的影響，對速度的平穩(wěn)性要求高的場合，宜用調(diào)速閥實現(xiàn)節(jié)流調(diào)速。

5.3.3 方向控制回路

在機械手液壓系統(tǒng)中，為控制各油缸、馬達的運動方向和接通或關閉油路，通常采用二位二通、二位三通、二位四通電磁閥和電液動滑閥，由電控系統(tǒng)發(fā)出電信號，控制電磁鐵操縱閥芯換向，使油缸及油馬達的油路換向，實現(xiàn)直線往復運動和正反向轉(zhuǎn)動。目前在液壓系統(tǒng)中使用的電磁閥，按其電源的不同，可分為交流電磁閥（D型）和直流電磁閥（E型）兩種。交流電磁閥的使用電壓一般為220V（也有380V或36V），直流電磁閥的使用電壓一般為24V（或110V）。這里采用交流電磁閥。交流電磁閥起動性能好，換向時間短，接線簡單，價廉，但是如吸不上時容易燒壞，可靠性差，換向時有沖擊，允許換向頻率底，壽命較短。

5.4 機械手的液壓傳動系統(tǒng)

液壓系統(tǒng)圖的繪制是設計液壓機械手的主要內(nèi)容之一。液壓系統(tǒng)圖是各種液壓元件為滿足機械手動作要求的有機聯(lián)系圖。它通常由一些典型的壓力控制、流量控制、方向控制回路加上一些專用回路所組成。

繪制液壓系統(tǒng)圖的一般順序是：先確定油缸和油泵，再布臵中間的控制調(diào)節(jié)回路和相應元件，以及其他輔助裝臵，從而組成整個液壓系統(tǒng)，并用液壓系統(tǒng)圖形符號，畫出液壓原理圖。

5.4.1 上料機械手的動作順序

本液壓傳動上料機械手主要是從一個地方拿到工件后，橫移一定的距離后把工件給立式精鍛機進行加工。它的動作順序是：待料（即起始位臵。手指閉合，待夾料立放）→插定位銷→手臂前伸→手指張開→手指夾料→手臂上升→手臂縮回→立柱橫移→手腕回轉(zhuǎn)115°→拔定位銷→手臂回轉(zhuǎn)115° →插定位銷→手臂前伸→手臂中停→手指松開→ 手指閉合→手臂縮回→手臂下降→手腕反轉(zhuǎn)（手腕復位）→拔定位銷→手臂反轉(zhuǎn)（機械手臂復位）→立柱回移（回到起始位臵）→待料（一個循環(huán)結(jié)束）卸荷。

上述動作均由電控系統(tǒng)發(fā)信控制相應的電磁換向閥，按程序依次步進動作而實現(xiàn)的。該電控系統(tǒng)的步進控制環(huán)節(jié)采用步進選線器，其步進動作是在每一步動作完成后，使行程開關的觸點閉合或依據(jù)每一步動作的預設停留時間，使時間繼電器動作而發(fā)信，使步進器順序?跳步?控制電磁閥的電磁鐵線圈通斷電，使電磁鐵按程序動作（見電磁鐵動作程序表）實現(xiàn)液壓系統(tǒng)的自動控制。結(jié)束語

這次論文給了我們一個很好的機會，使我們了解了設計工作的基本流程和設計的方法以及理念。

雖然我描述的只是個簡單的工業(yè)機器人抓取手臂，但需要完成伸縮、升降、回轉(zhuǎn)、橫移等功能，對應分別要對這些機構(gòu)進行設計和計算，以及對油路及其部件的選擇、控制回路和電氣控制的設計。通過這些設計，使理論知識與實際相結(jié)合，鞏固和深化了所學過的專業(yè)理論知識。在設計的過程中我不斷探索、不斷學習和修改。

通過這次設計，大大的提高了我們的自主學習和認真思考的能力，對學術態(tài)度的嚴謹性也有了很高的認識。我相信在以后的學習和工作過程中，一定可以好好的解決問題，提高自己的能力，較快地適應工作和社會激烈的競爭。

參考文獻

[1] 鄧星鐘.機電傳動控制[M].華中科技大學出版社，2002 [2] 孫志禮、冷興聚、魏延剛等.機械設計[M].東北大學出版社，2003 [3] 吳宗澤.機械設計師手冊[M].機械工業(yè)出版社，2002 [4] 丁繼斌.機器人技術基礎（第二版）.高等教育出版社，2012 [5] 羅洪量.機械原理課程設計指導書[M]（第二版）.高等教育出版社，1986 [6] 張建民.工業(yè)機器人[B][M].北京理工大學出版社，1992

第三篇：機器人總動員 英文觀后感

Wall-E

Can you imagine what the earth will be in the future? Some of us will give a wonderful picture of our future lives, but the movie named Wall-E gives us a contrary description.In the movie, the earth is covered with amount of rubbish, and the only residents are a robot named Wall-E and his pet.Wall-E is a kind of robot that is produced to clear the rubbish on the earth.He works day after day, and this kind of life lasts nearly 700 years.In this period of time, Wall-E gradually has self-awareness.And one day, Wall-E’s peaceful life is broken by Eve, another robot from a spacecraft of human beings, whose mission is to find plants.Wall-E falls in love with Eve at first sight.When Eve finds the plant, she is taken away by the spacecraft.Wall-E gives up his job on the earth and leaves the earth with Eve.And then they come to the spacecraft where the human beings live on.The Captain McCrea who knows that there are plants on the earth wants to go back to the earth but AUTO, the real controller of the spacecraft, refuses to implement the order from Captain McCrea.To protect the plant, Eve and Wall-E have to fight against the followers of AUTO.And during the fight, the residents on the spacecraft begin to help each other and find the true meaning of human beings.In the end, human beings return their hometown---the earth.And Wall-E realizes his dream and joins his hands with Eve.This movie tells us a love story between robots.In real word, love is confined by a lot of things so when we find our love we will list many conditions.Contrasted with human’s love, love between robots is pure and innocent.For example, when Eve become resting state, Wall-E protects her even though she doesn’t know at all and when the spacecraft takes her away, Wall-E goes with her without hesitation.They cannot communicate with each other, so Wall-E cannot express his feelings to Eve by words, but though his deeds, we can and Eve also can feel the love from Wall-E.Also, the movie warns us that we must protect our

earth right now.If we destroy the earth all the time, we will have to pay for our deeds.I love the movie very much even though there are not dialogues in most of the film.Compared with action, words are so pale.In our life, sometimes we say too much but do so little.We say “l(fā)ove you”, but actually we love ourselves more than love others.We say “try our best to protect the environment”, however, we still do something which is harmful to our earth.If human beings lost function of language, they would become more sincerely than now.

第四篇：機器人管家影評英文

專業(yè)班級：英語09-03班 學號：2009304780 姓名：杜曼迪

Love is Eternal Time

------Review on Bicentennial Man The story began on a very special day when the man of the house bought a robot, being elated to tell the family about it.Subsequently he found the different robot Andrew(not the same with other robots), he said the meaningful words, “Time for you and me, the meaning is not the same.” This sentence until I Video final stage, I found out the real meaning of its taste.Then I am very moved by the man and Andrew.Andrew will be thinking robots and lasted nearly two hundred years of life, during which he has been pursuing as a “person”.For this he has been the transformation of him own.Andrew experienced the love that “Little Miss” did not understand, learning the habits of human beings(such as jokes, to create something), with a human face, wearing human clothes, thinking and reaching for the “freedom”, seeing the old master die of old age,at last being death with his lover.And he wanted to find the same group and to determine that they are unique.He insisted on changing their shape into a person's appearance, with people all the organs, the installation with the human nervous system of human emotion.He started the world fight for their own parliament, as “human” legal status, and finally like people gradually aging until death.“If I cannot cry when I am uncomfortable, and cannot laugh when I am happy, I am just like the appearance of only the steel so that I am not able express my emotional distress and can not vent in my heart”.And I think it is the main reason that Andrew wanted to be a real person.“You can cry but I can not.This is too cruel, and I can not express it when my heart hurts.” In fact, such feelings, many people have experienced so much, but we have not the courage to look for the free expression of our true self.Sometimes when we are sorrow and very wronged ,we do not show it and keep it a secret.But feelings of loss so that he began to search for the right of access to be like a normal person.With the person's facial features, human perception, he is not the full sense of the people.People from the pursuit in vitro, to seek the affirmation of human

beings, Andrew began to understand this principle, two hundred years of time with substitutions of complete cross.Andrew's life is the robot from the “it” to “he” in the process, but also on what is “human”-a biological sense and social sense of “person” in China.In a sense, it is a microcosm of the history of human evolution.Tens of thousands of years human beings, is such as he from a senior animal and apes evolved into the present one.Maybe it is a success and a process in person history but there also is a more serious question that if a robot can change into a person,then the people will lose his dominance,and if the society can promote peacefully.With only this,it still not touched me so much.In the final stage, when Andrew saw “Little Miss” die of old age, when the World Parliament told Andrew, as he has eternal life, but unlike humans, I suddenly realize that “the time for you and me, the meaning is not the same ” this sentence.In a limited life, the time has a beginning and has an end, the time therefore has itself value;people have to do anything by the last time, so there is also the joy of complete collapse of regret;while people have a fear of losing the treasure;and for a period of several decades to do more meaningful things, people will think about life and the meaning of the value and time;Finally, end of life is a life of pain relief.For the people,maybe time is very important,so they must use it to do the most important things in their life.In my opinion,when to eternal life, the time is carelessness.The time for people is no longer a source of happiness.Economic reasons why people seek eternal life, are limited in terms of that time for everyone is priceless.But when you have unlimited time, its economic value would be infinite “inflation”,even the value of zero.On the other hand, the pain of human emotions will continue to accumulate, especially in the face of love, family and friends leave.From generation to generation, every time you make a friend, know a lover, you know they will eventually leave you, and leave you alone to bear the loneliness and pain of all such “time” and “l(fā)ife” what is the point.No wonder all the celestial enlightenment of the people, “Annihilate Desire” is always a prerequisite, and stealth into deep forests, not with others, but this way, what is life without feeling the value of it?

People pursue life, often because of the value of the life on the first list.But the “l(fā)iving death” of the old saying tells us that there are more important things than life.Lovers do not ask the same month on the same date, but for the same month on the same day died,“ the oath, revolutionaries for the ”extremely heavy“ the death of the pursuit of terminally ill patients to euthanasia, the desire, are described life in the human value system status.Andrew finally understand this, ”he“ in the world.Parliament declared that ”he“ becomes a human being passing moment.A few minutes later, his wife went out with him.Andrew become a ”person", but also the love of perfection.He was trying.And in order to be a person for his lover,he was trying to be a person.Time for him is not the most important but the love.He only wants to company with his lover forever,Though at last he leaves first, they are with each other.So form the movie, I undershand a truth that it is the limited life that makes love unique.

第五篇：機器人總動員presentation英文講稿

Today i want to introduce you a film named___WALL-E.The story happened in a distant, but not so unrealistic future, where mankind has abandoned earth because it has become covered with trash from products sold by the powerful multi-national Buy N Large corporation.WALL-E, a garbage collecting robot has been left to clean up the mess.Mesmerized with trinkets of earth's history and show tunes,(2)WALL-E is alone on Earth except for a sprightly pet cockroach.One day, Eve, a sleek(and dangerous)re-connaissance robot, is sent to earth to find proof that life is once again sustainable.WALL-E falls in love with Eve.WALL-E rescues Eve from a dust storm and shows her a living plant he found amongst the rubble.Consistent with her “directive” Eve takes the plant and automatically enters a deactivated state except for a blinking green beacon.WALL-E, doesn't understand what has happened to his new friend, but true to his love, he protects her from wind, rain, and lightening, even as she is unresponsive.One day a massive ship comes to reclaim Eve, but WALL-E, out of love or loneliness hitches a ride on the outside of the ship to rescue Eve.The ship arrives back at a large space cruise ship, which is carrying all of the humans who evacuated earth 700 years earlier.The people of earth ride around this space resort on hovering chairs which give them a constant feed of TV and video chatting.They drink all of their meals through a straw out of laziness and/or bone loss, and are all so fat that they can barely move.When the auto-pilot computer, acting on hastily given instructions sent many centuries before, tries to prevent the people of earth from returning, by stealing the plant, WALL-E, Eve, the portly captain, and a band of broken robots stage a mutiny.This is a very classic and touching movie, I hope the next part of the film left to your own enjoyment.