2023年二自由度工业机器人 3自由度工业机器人机构简图(5篇)

二自由度工业机器人 3自由度工业机器人机构简图篇一

introduction to robotics

mechanics and control

机器人学入门

力学与控制

系

别： 机械与汽车工程系 专学业生

名姓

称： 机械设计制造及其自动化 名： 郭仕杰

学

号：

06101315 指导教师姓名、职称： 贺秋伟 副教授

完成日期 2014 年2 月28日 introduction to robotics

mechanics and control

abstract this book introduces the science and engineering of mechanical branch of the robot has been in several classical field main related fields such as mechanics, control theory, computer this book, chapter 1 through 8 topics ranging from mechanical engineering and mathematics, chapter 9 through 11 cover control theory of material, and twelfth and 13 may be classified as computer science addition, this book emphasizes the computational aspects of the problem;for example, each chapter it mainly mechanical has a brief section book is used to teach the class notes introduction to robotics, stanford university in the fall of 1983 to first and second versions have been through 2002 in use from 1986 the third version can also benefit from the revised and improved due to feedback from many to all those who modified the author's book is suitable for advanced undergraduates the first grade students have contributed to the dynamics and linear algebra course in advanced language program in a basic course of addition, it is helpful, but not absolutely necessary, let the students finish the course control purpose of this book is a simple introduction to the material, intuitive ically, does not need the audience mechanical engineer strict, although much of the material is from the the stanford university, many electrical engineers, computer scientists, mathematicians find this book very we only on the important part to main content

1、background

the historical characteristics of industrial automation is popular during the period of rapid as a cause or an effect of automation technology, period of this change is closely linked to the world of industrial robots, can be identified in a unique device 1960's, with the development of computer aided design(cad)system and computer aided manufacturing(cam)system, the latest trends, automated manufacturing technology is the leading industrial automation through another transition, its scope is still the northern america, machinery and equipment used in early 80's of the 20th century, the late 80's of the 20th century a short then, the market more and more(figure 1.1), although it is affected by economic fluctuations, all the 1.2 shows the robots were installed in a large number of annual world industrial y, the number of japan's report is different from other areas: they count the number of machine of robot in other parts of the world are not considered robot(instead, they would simply be considered “factory machines”).therefore, the reported figures for the japanese of the main reason for the growth in the use of industrial robots is that they are falling .1.3 shows that, in the last century 90's ten years, robot prices dropped although human labor the same time, the robot is not only cheaper, they become more effective and faster, more accurate, more we factor these quality adjusted to the number, the use of robots to decrease the cost of even than their price tag cost-effective in the robot they become, as human labor to become more expensive, more and more industrial work become robot automation is the most important trend to promote the industrial robot market second trend is, in addition to the economic, as robots become more can become more tasks they can do, may have on human workers engaged in dangerous or rial robots perform gradually get more complex, but it is still, in 2000, about 78% installation welding or material handling robot in usa robot.a more challenging field, industrial robots, accounted for 10% book focuses on the dynamics and control of the most important forms of industrial robot, is the industrial robot is sometimes ent, as shown in figure 1.4 is always included, and cnc milling machine(nc)is usually difference lies in the programmable complex place if a mechanical device can be programmed to perform a variety of applications, it may be an industrial is the part of a limited class of tasks are considered fixed the purpose of this difference, do not need to be discussed;the basic properties of most materials suitable for various programmable general, the mechanical and control research of the mechanical hand is not a new science, but a collection of the theme from the “classic” ical engineering helps to machine learning methods for static and dynamic mathematical description of movement of the tool manipulator space supply and other e design evaluation tool to realize the motion and force the desired algorithm control ical engineering technology applied in the design of electrical engineering technology for sensor applied in design and industrial robot interface sensor, are programmed to perform the required task of basic computer science and the s：

figure 1.1: shipments of industrial robots in north america in millions of us

dollars

figure 1.2: yearly installations of multipurpose industrial robots for 1995-2000 and

forecasts for 2001-2004

figure 1.3: robot prices compared with human labor costs in the 1990s

figure 1.4:the adept 6 manipulator has six rotational joints and is popular in many sy of adept technology, inc.2、control of mechanical arm in the study of robots, 3d spatial position we constantly to the object of objects are all manipulator links, parts and tools, it deals, and other objects in the robot's a coarse and important level, these objects are described by two attributes: the position and course, a direct interest in the topic is the attitude in which we represent these quantities and manipulate their order to describe the human body position in space and direction, we will always highly coordinate system, or frame, rigid we continue to describe the position and orientation of the reference frame of the coordinate framework can be used as a reference system in the expression of a body position and direction, so we often think of conversion or transformation of the body of these properties from one frame to another 2 chapter discusses the convention methods of dealing with job descriptions discussed method of treating and post convention described positioning and manipulation of coordinate system the quantity and mathematics developed skills relevant to the position and rotation of the description and is very useful in the field of rigid tics is the science of sports, the movement does not consider the force which resulted in the scientific research of kinematics, a position, velocity, acceleration, and the location variable high order derivative(with respect to time of all or any of the other variables(s)).therefore, the kinematics of manipulator is refers to the geometric and temporal characteristics of all manipulator comprises nearly rigid connection, which is the relative movement of the joint connection of adjacent nodes are usually instrument position sensor, so that adjacent link is a relative position the case of rotating or rotary joint, the displacement is called the joint robots including sliding(or prism)connection, in which the connection between the relative displacement is a translation, sometimes called the joint manipulator has a number of independent position variables are specified as the mechanism to all parts of is a very general term, any example, a four connecting rod m