机械手臂暂停英文

Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of +/-0.006 inches. Furthermore these robots can do that 24 hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications (particularly those in the auto industry) they are programmed once and then repeat that exact same task for years. A six-axis robot like the yellow one below costs about $60,000. What I find interesting is that deploying the robot costs another $200,000. Thus, the cost of the robot itself is just a fraction of the cost of the total system. The tools the robot uses combined with the cost of programming the robot form the major percentage of the cost. That's why robots in the auto industry are rarely reprogrammed. If they are going to go to the expense of deploying a robot for another task, then they may as well use a new robot. This is pretty much the typical machine people think of when they think of industrial robots. Fanuc makes this particular robot. Fanuc is the largest maker of these type of robots in the world and they are almost always yellow. This robot has six independent joints, also called six degrees of freedom. The reason for this is that arbitrarily placing a solid body in space requires six parameters; three to specify the location (x, y, z for example) and three to specify the orientation (roll, yaw, pitch for example).If you look closely you will see two cylindrical pistons on the side of the robot. These cylinders contain "anti-gravity" springs that are a big part of the reason robots like these can carry such heavy loads. These springs counter-balance against gravity similar to the way the springs on the garage door make it much easier for a person to lift.You will see robots like these welding, painting and handling materials. The robot shown at right is made by an American company, Adept Technology. Adept is America's largest robot company and the world's leading producer of SCARA robots. This is actually the most common industrial robot. SCARA stands for Selective Compliance Articulated (though some folks use Assembly here) Robot Arm. The robot has three joints in the horizontal plane that give it x-y positioning and orientation parallel to the plane. There is one linear joint that supplies the z positioning. This is the typical "pick and place" robot. When combined with a vision system it can move product from conveyor belt to package at a very high rate of speed (think "Lucy and the candies" but way faster).The robot's joint structure allows it to be compliant (or soft) to forces in the horizontal plane. This is important for "peg in hole" type applications where the robot will actually flex to make up for inaccuracies and allow very tight part fits. The machine at left can be called a Cartesian robot, though calling this machine a robot is really stretching the definition of a robot. It is Cartesian because it allows x-y-z positioning. Three linear joints provide the three axes of motion and define the x, y and z planes. This robot is suited for pick and place applications where either there are no orientation requirements or the parts can be pre-oriented before the robot picks them up (such as surface mounted circuit board assembly)..工业机器人现代工业机器人是真正的奇迹工程。一个像人一样大小的机器人可以轻松地随身携带负载百磅，并很快地重复性移动+ / -0.006英寸。此外这些机器人可以做到没有失败的一天24小时的连续工作几年。尽管它们是可以改编的，在许多应用中（特别是在汽车行业） ，他们是一次编程，然后多年重复相同的任务。六轴机器人像Fanuc的黄一个低于成本约为六万美元。我认为有趣的是，部署机器人的费用为另外的20万美元 。因此，机器人本身的成本只是整个系统费用总额的一小部分。这些机器人使用的工具与设计机器人的结构的成本一起构成了在成本的主要百分比。这就是为什么机器人在汽车业很少改编。如果他们将要去为部署机器人的另一项任务而花钱，那么他们可能会使用新的机器人。当他们想到工业机器人时，人们认为这是非常典型的机械。Fanuc发明了这个特殊的机器人。Fanuc是全球最大的这些类型的机器人制造商，他们几乎都是黄色的。这种机器人有6个独立的节点，也称为六自由度。这样做的理由是，任意放置一个立体都需要6个参数;三个指定地点（例如x ， y，z坐标）和3个指定的方向（例如转动，偏移，掷） 。如果你仔细观察你会看到有两个圆柱形活塞分别在机器人的两侧。这些圆柱含有“反重力”弹簧这是机器人可以携带这样重物的一大部分原因。这些弹簧平衡重力的方式类似于车库门上的弹簧能够更容易使一个人进入。你会看到这样的机器人焊接，涂装和处理材料。在右侧显示的机器人是由一家美国公司，Adept Technology ，制造的。Adept Technology是美国最大的机器人公司和全球领先的SCARA机器人制造商。这实际上是最常见的工业机器人。 SCARA主张选择地遵守铰接式（尽管有些人在这里利用组装）机械臂。该机器人在水平面有三个接合处，这给它x-y的定位和平行与水平面的方向。有一个线性的联合供应的Z定位。这是典型的“采摘和放置”的机器人。加上一个视觉系统它就可以在一个非常高的速度下将产品从传送带上进行封装。这个机器人的联合结构允许它兼容（或软的）来使机器人放置在水平面。对于“用孔固定在水平面”型应用机器人这是非常重要的，这个机器人将会很灵活，容易弯曲，可能会导致误差，而且它晕眩部件紧密配合。在左侧的机器可以被称为笛卡尔机器人。然而叫这台机器为机器人实际上是伸展了机器人的定义。这是笛卡尔的因为它可以让x-y-z坐标系定位。三个线性接合处提供了3个轴的运动，并确定了X ， Y和Z位面。这种机器人适合对场合和地点都没有方向的要求或部分可预先方向的拾起和放置应用（如表面裱好的电路板的装配） ..

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