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編號 無錫太湖學院 畢業(yè)設計（論文） 相關資料 題目： 60噸焊接變位機設計 信機 系 機械工程及自動化專業(yè) 學 號： 　　　 0923237　　　　 學生姓名： 朱　 斌 指導教師： 　 尤麗華 （職稱：副教授 ） （職稱： ） 2013年5月25日 目 錄 一、畢業(yè)設計（論文）開題報告 二、畢業(yè)設計（論文）外文資料翻譯及原文 三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表” 四、實習鑒定表 無錫太湖學院 畢業(yè)設計（論文） 開題報告 題目： 60噸焊接變位機設計 信機 系 機械工程及自動化 專業(yè) 學 號： 0923237 學生姓名： 朱 斌 指導教師： 尤麗華 （職稱：教授 ） （職稱： ） 2012年11月25日 課題來源 本課題來自無錫華聯精工機械有限公司的生產實際。目前機械行業(yè)，特別是鍋爐行業(yè)有大量的管和板的焊接，管子和板的接合處為環(huán)縫焊接，為適應自動焊接，管與板要自轉，同時要傾斜45度，滿足船形焊接，要求設計該設備。 科學依據（包括課題的科學意義；國內外研究概況、水平和發(fā)展趨勢；應用前景等） 在焊接過程中，我們經常會遇到焊接變位以及選擇合適的焊接位置的情況，為了解決這一問題，焊接變位機就理所應當的出現。它可以通過工作臺的回轉和翻轉，使待焊處置于合適位置，很好的和焊接設備結合使用，實現焊接的自動化，機械化，提高生產效率和焊接質量。概括來講，焊接變位機就是移動工件，使之待焊部位處于合適的位置的焊接輔助設備。現在我國生產變焊接的廠家已經不少，但都不成規(guī)模。以變位機為主導產品發(fā)展起來的企業(yè)，尚未形成。天津鼎盛公司工程機械有限公司、無錫市陽通機械設備有限公司、長沙海普公司、威達自動化設備有限公司等單位生產的變位機在國內占有較大市場。到2010年，國內已開發(fā)的變位機產品約130余種規(guī)格。然而在國際上，包括各種功能的產品在內，有百余種系列。在技術上有普通型的，有無隙傳動伺服控制型的；產品的額定負荷范圍達到0.1KN～18000KN。 在先進工業(yè)國家，焊接變位機已標準化、系列化，并由專門廠家生產，技術指標先進，品種規(guī)格齊全，不僅有各種結構形式的通用焊接變位機，也有配合焊接機器人使用的高精度變位機。比較有名的國外公司有：瑞典的ESAB、意大利的ANSALDO、德國的CL00S、奧地利的IGM、美國的LINCOLN和日本的 機械株式會社 。他們的產品，我國都有引進，其中以引進ESAB公司的較多，蘭州石油化工機器廠在1991年就引進了該公司生產的30t焊接變位機；四川東方鍋爐廠為了核電站反應容器的生產，1997年也從該公司引進了100t的焊接變位機，長春焊機廠還從日本引進了生產焊接變位機的技術。配合焊接機器人使用的焊接變位機，在我國幾乎都是作為焊接柔性加工單元(FMC)和柔性加工系統(tǒng)(FMS)的組成部分一并引進的。據1995年的不完全統(tǒng)計，已引進約200多臺，主要用于汽車、工程機械等有關結構的焊接。 我國引進的焊機器人柔性加工單元中的變位機，也是針對特定產品研制的，因此價格較昂貴，而技術培訓及售后服務卻不理想。在技術方面，我國許多工廠引進的弧焊機器人系統(tǒng)己具有機器人與變位機協(xié)調運動的功能。這對一些空間曲線或較復雜的焊縫可以始終保持在最佳位置下進行焊接，以提高焊接質量，并能一次起弧就焊完整條焊縫，以提高效率。但是有關技術卻往往為外方廠家所壟斷，我們并不掌握。從提高我國焊接生產機械化與自動化水平的角度出發(fā)，必須加大科研投入，研制高性能的焊接機器人與配套變位設備，力求在自動化焊接領域在國際上占有一席之地。 研究內容 本焊接變位機由工作平臺、回轉機構、翻轉機構、機座、控制裝置和焊接導電裝置組成。 ㈠工作臺 它用于工件的停放和固定。在臺面上開溝槽，表面經網絡狀處理后增大了摩擦，一方面配合夾具固定工件，一方面也增大了表面的摩擦。 ⑴工作盤為直徑Φ3000的圓盤 ⑵用優(yōu)質鋼板焊接而成，在受力部位作了加強處理；退火處理，消除應力后加工。 ⑶工作盤固定在專業(yè)回轉體上，保證穩(wěn)定地承載和回轉。 ㈡回轉機構 ⑴工作臺固定在大型回轉支承上，保證額定載荷下的承載及回轉平衡；回轉機構用于帶動工件旋轉，便于焊頭對工件進行環(huán)形焊接。 ⑵工作臺底部采用型材焊接成形，在受力部位作加強處理，工作臺焊后進行去應力處理，變形小。 ⑶工作臺固定在回轉支承上，從而保證穩(wěn)定回轉。采用回轉支承承載，固有承載能力大，回轉精度高的特點。 ⑷轉支承采用“單排四點接觸球式回轉支承”（型號為012. 60. 2000 . ）由專業(yè)廠家生產。具有結構合理、剛性好、自重輕、壽命長等優(yōu)點。 ⑸工作臺的回轉由交流電機通過雙級擺線針輪減速器驅動，減速器輸出小齒輪與回轉嚙合，從而驅動工作臺回轉。 ⑹驅動小齒輪采用40Cr材質，并經調質，齒面淬火處理，從而滿足高強度的傳遞使用。 ⑺驅動采用交流變頻無極調速，范圍廣，以保證在較寬調速范圍內的恒扭矩輸出。 ⑻整個回轉機構安裝在箱型結構的橫梁翻轉框上，橫梁對工件進行支撐承載，并將工件的重量通過橫梁傳遞到兩邊立柱支架上，能承受大的沖擊載荷和扭曲力。采用箱型機構可以有效承載和抗扭能力。 ㈢翻轉機構 ㈠翻轉機構可使工件產生俯仰運動，改變工件的位置便于焊接； ⑵采用圓弧硬齒面蝸輪蝸桿減速器具有承載能力大，看沖擊能力強的特點，但成本是普通蝸輪蝸桿減速器的2-3倍。 ⑶翻轉工作原理：電磁制動電機-減速器-齒輪-大齒盤-工件，由大直徑和大模數的雙齒盤才實現工件的翻轉，平穩(wěn)可靠、承載效果好。 ⑷翻轉驅動裝置的小齒輪與傘齒嚙合，驅動機構翻轉； ㈣底座 ⑴機架采用型材焊接而成結構牢固可靠，是整個設備的支撐結構 ⑵為了保證強度，我們將底座聯接為整體，內部行腔根據受力的情況焊接加強筋； ⑶底座的延伸支架腿長度應該達到超過其最大重心距的要求 ㈤工作機需要電動機輸入功率才能工作 一般原動機與工作機不直接相連，而是通過在兩者之間設置一個中間裝置，稱這個中間裝置為傳動裝置簡稱傳動；在機械中，傳動裝置的功用是根據工作機的工作提要實現某種減速、增速、變速、或改變運動形式的功能。工程實踐表明，傳動裝置是機械中重要的組成部分，在整機的成本和重量中占有很大的比重，并在很大程度上決定整機的技術性能和運轉費用。因此，正確設計傳動裝置對保證整機的技術性能和質量指標都具有相當重要的意義。根據工作原理的不同，傳動分為兩類：機械傳動和電傳動。 ㈥選擇傳動形式時，應當考慮的主要指標 功率、效率、運動性能、外形尺寸、重量、生產率和成本等?，F分別闡述如下： ⑴功率 每種傳動所傳遞的功率大小與該傳動的工作原理、承載能力 、工作速度、效率 、材料和制造精度等因素有關。一般來說，嚙合傳動傳遞的功率高于摩擦傳動傳遞的功率，但是嚙合傳動中蝸桿傳動則因材料關系也不能傳遞大的功率。 ⑵效率 效率是評定傳動質量指標的一個重要參數。高的效率意味著節(jié)約動力。傳動效率低，一般不宜傳遞大的功率。通常嚙合傳動的效率高于摩擦傳動，但普通圓柱蝸桿的傳動可能低于摩擦傳動。 ⑶速度 速度是傳動裝置的一個主要運動特性。提高傳動的速度是機械的主要發(fā)展方向之一。影響速度的因素有動載荷和制造精度等。 ⑷傳動比 傳動比是傳動裝置的又一種運動特性。每種傳動因受外形尺寸或承載能力的影響限制，均有各自適用的最大傳動比值。此外，還應考慮傳動比值的準確性問題。對于要求精確傳動比的機械，不用摩擦傳動而采用嚙合傳動。 ⑸外廓尺寸、重量及成本 傳動裝置的外廓尺寸和重量與傳動零件材料的機械性和容許傳遞速度、容許傳遞功率密切相關。在上述條件確定下，單極傳動的外廓尺寸和重量主要取決于傳動形式。一般來說嚙合傳動比摩擦傳動輕巧，但成本高。嚙合傳動中，蝸桿程度和一些內嚙合行星傳動的尺寸和重量通常小。 ⑹機構預期壽命 機構預期使用壽命為10年，每天兩班制，全年工作300個工作日記則其使用壽命為10*300*2*8=4800小時。 總之，綜合考慮各種情況，得出一個最優(yōu)設計方案，設計一個符合實際情況的焊接變位機。 擬采取的研究方法、技術路線、實驗方案及可行性分析 通過對輸煤系統(tǒng)的實地考察，總結得出輸60噸焊接變位機的基本結構，工作方式與原理。然后根據考察的結果，再查閱相關書籍，確定基本的設計參數，進行初步的三維建模。交由指導老師檢查，修改。完成后，再對主要載荷部件進行校核。最后出主要零件的零件圖，編寫設計說明書。 可行性分析：《我國焊接輔助設備與器具制造行業(yè)前景分析》我國焊接工藝裝備制造行業(yè)起步較晚，直到二十世紀70年代初才在上海、成都、長春等地陸續(xù)建成一批專門生產焊接工藝設備的制造廠。進入80年代，隨著國內焊接工藝裝備需用量的日益增長，各地又相繼成立多家中小型焊接裝備生產廠。近期又新建成或改建具有一定規(guī)模的焊接裝備生產企業(yè)。迄今，我國已有24加焊接裝備生產企業(yè)，年產量2000萬元以上的已有10多家。有些企業(yè)發(fā)展速度較快，并已具有較大的規(guī)模，有些焊接設備已實現批量生產。 研究計劃及預期成果 本焊接變位機由工作平臺、回轉機構、翻轉機構、機座、控制裝置和焊接導電裝置組成。此焊接變位機可解決鍋爐行業(yè)有大量的管和板的焊接，管子和板的焊接問題，主要體現在下面幾個方面： ⑴穩(wěn)定和提高焊接質量，保證其均一性 焊接參數如焊接電流、電壓、焊接速度等對焊接結果起決定行作用。采用焊接變位機焊接時對于每條焊接的焊縫的焊接參數都是恒定的，焊接質量受人的因素影響較小，降低了工人操作技術的要求，因此焊接質量是穩(wěn)定的。而人工焊接時，焊接速度、干伸長等都是變化的，因此很難做到質量的均一性。 ⑵改善了工人的勞動條件 采用焊接變位機焊接工人只是用來裝卸工件，遠離了焊接弧光、煙霧和飛濺等，對于點焊來說工人不再搬運笨重的手工焊鉗，使工人從大強度的體力勞動中解脫出來。 ⑶提高勞動生產率 焊接變位機沒有疲勞，一天可24小時連續(xù)生產，另外隨著高速高效焊接技術的應用，使用焊接變位機焊接，效率提高的更加明顯。 今年來我國對于焊接技術有很大的提高，有效提高生產效率，減輕了工人的勞動強度。焊接變位機件大量應用于焊接生產中。 特色或創(chuàng)新之處 近年來我國焊接變位機行業(yè)占整個行業(yè)的40%以上，與焊接這個特殊的行業(yè)有關，焊接作為工業(yè)“裁縫”，是工業(yè)生產中非常重要的加工手段。 焊接變位機應具有以下技術要求：①回轉驅動實現無極調速，并可逆轉。②在回轉速度范圍內，承受最大載荷時轉速波動不超過5%。③傾斜驅動應平穩(wěn)，在最大負荷下不抖動，整機不得傾覆。最大負荷Q超過25kg的，應具有動力驅動功能。④應設有限位裝置，控制傾斜角度，并有角度指示標志。⑤傾斜機構要具有自鎖功能，在最大負荷下不滑動，安全可靠。⑥變位機控制部分應設有供自動焊接的聯動接口。 我設計的焊接變位機也會按照以上要求設計，即注重實用性和安全性；同時性價比高，成本低。 已具備的條件和尚需解決的問題 已具備的條件：設計過程中所需要的各種軟硬件資源和相關產品實物照片。 尚需解決的問題：相關文獻資料的缺乏，對一些結構設計部分的具體設計指導，以及三維軟件的高級運用技巧。 指導教師意見 指導教師（簽名）：　 　 年 月 日 教研室（學科組、研究所）意見 教研室主任簽名： 年 月 日 系意見 主管領導簽名： 年 月 日 Use of Voice Recognition for Control of a Robotic Welding Workcell ABSTRACT: This paper describes work underway to evaluate the effectiveness of voice recognition systems as an element in the control of a robotic welding workcell. Factors being considered for control include program editor access security,Preoperation checklist requirements, welding process variable control,and robot manipulator motion overrides. In the latter two categories, manual vocal control is being compared against manual tactile control and fully automatic control in terms of speed of response, accuracy, stability, reliability. And safety. Introduction Voice recognition technology is now recognized as a potential means for easing the workload of operators of complex systems. Numerous applications have already been implemented, are in various stages of development, or are under consideration. These include data entry,control of aircraft systems, and voice identification and verification for security purposes. Voice control has also been proposed for use aboard the space station. One prime area for application would be control of some functions of robots used for intraand extravehicular inspection, assembly, repair,satellite retrieval, and satellite maintenance when a crewmember is serving in a supervisory capacity or the system is operating in a teleoperation mode. Voice control of sensors and process variables would free the crewmember’s hands for other tasks, such as direct control or override of the manipulator motion. Similarly, the workload associated with control of many onboard experiments could be eased through the use of this technology. This paper describes the application of voice recognition for control of a robotic welding workcell. This is a complex system involving inputs from multiple sensors and control of a wide variety of robot manipulator motions and process variables. While many functions are automated, a human operator serves in a supervisory capacity, ready to override functions when necessary. In the present investigation, a commercially available voice recognition system is being integrated with a robotic welding workcell at NASA Marshall Space Flight Center, which is used as a test bed for evaluation and development of advanced technologies for use in fabrication of the Space Shuttle Main Engine. In the system under development, some functions do not yet have automatic closedloop control, thus requiring continuous monitoring and real-time adjustment by the human operator. Presently, these ovemdes are input to the system through tactile commands (;.e.. pushing buttons. turning knobs for potentiometers, or adjusting mechanical devices). Since the operator monitors the process primarily visually, he must either look away from the process to find the proper button or knob or rely on“muscular memory”much as a touch-typist does. In the first case, the time of response to a deviant condition may be excessive. In the second case, there is an increased probability of a secondary error being introduced by the operator. A voice recognition system could reduce the response time required from the operator.The probability of pushing the wrong button should similarly be reduced. Also, operator fatigue should be minimized. Since the operator can continuously monitor the process during override input, the effect of the change can be observed more quickly. Thus, if the desired value is exceeded and reverse correction is required, it should be accomplished more quickly, allowing less overshoot. This reduction in oscillation about the desired value makes the system more stable. Another factor that can be improved is operator safety. In a safety-critical situation,the robot’s operation can be halted immediately by use of the “emergency stop,’’ or E-stop, mode, which is initiated, conventionally, by depressing a large button. If an operator inadvertently finds himself in a hazardous situation, it may be necessary for him to initiate the E-stop sequence. Should the operator not be within reach of the button,however, he may be unable to take the necessary action, and, as a result, could suffer serious injury. Having the capability of stopping the robot by issuing a voice command could significantly improve the operator’s safety by enabling him to stop the robot even when not within reach of the E-stop button. Manual corrections are occasionally required to adjust the location at which the weld filler wire enters the weld pool. Proper entry location is absolutely critical to sound weld quality. Adjustments are made either by manually adjusting mechanisms that hold the wirefeed guide tube or by issuing tactile commands to a servomechanism. Use of a voice recognition system could eliminate the need for the operator to place his hand within the working envelope of the robot end effector or, if servomechanisms are employed,could improve speed of response and stability. Another aspect of robot operation in an industrial environment that is very important is the security of a program editing capability of the system. Under no circumstances should any unauthorized person be able to enter this programming mode and alter the robot’s program. A voice recognition system can provide the necessary security by allowing access only for individuals who are authorized and whose voices can be identified by the system. Background Robotic welding is under development by NASA and Rocketdyne for the automation of welds on the Space Shuttle Main Engine that are presently made manually. The programmability of a robot can reduce the percentage of welding defects through a combination of consistency and repeatability unattainable by its human counterparts. To do this, the robot is programmed to a nominal weld path and level of weld process parameters (i.e., current, travel speed. voltage,wire addition rate). Some adjustment of these values is often necessary due to conditions changing during the weld. A human making a manual weld accomplishes this adjustment readily, while a robot must rely on the limited talents of sensors and the ability of the operator to override functions when necessary. System Integration The basic elements of the workcell system are shown diagrammatically in the illustration.The ultimate goal of the system development work in progress is to generate robot manipulator programs and weld process programs off line, download them to the workcell supervisory computer, then use sensor subsystems to make closed-loop corrections to the robot path and process variables. Offline programming is being done with an Intergraph modified VAX 780/785-205 computer system with Interact color graphics workstations. Deviations between the programmed robot path and the actual required path are observed and corrected by a sophisticated vision-based sensor developed for this application by Ohio State University.This sensor system is also designed to permit measurement of the molten weld pool surface dimensions and correct welding current level to maintain the weld pool dimensions within desired limits. Presently, a number of functions are still controlled manually, and manual overrides capability is required for all functions. As stated in the Introduction, use of voice recognition may improve the accuracy and speed of response of these manual overrides. To explore this technology, a Votan VRT 6050 stand-alone voice recognition terminal has been integrated into the workcell. This system provides continuous speech recognition of up to 10 sets of words with 75-150 words per set. The integration of the voice recognition system is broken into analog and discrete signals for control. The voice recognition system connects to the control computer through a standard RS232-C communications link. Discrete Control Signals In this project, most of the control circuitry is based on discrete digital signals.This is due to the on/off state nature of the circuits to be controlled in the robot controller.The circuits of the system to be controlled by the voice recognition control computer (VRCC) by discrete signals are the emergency stop circuit and the positive jog and negative jog circuits for motion control. Since the safety of the operator is paramount in any automated workcell, the voice recognition system should be incorporated as a safety feature. To accomplish this, the VRCC has been interfaced into the workcell emergency stop circuit. The emergency stop circuit in the robotic workcell will shut down the welding process and the mechanical motion of the manipulators. Through the use of a digital signal from the VRCC, a relay is energized that interrupts the necessary circuits in the weld power supply and robot controller. With the use of the voice recognition system as a safety control for this workcell, we have added a third level of redundancy into the emergency stopping ability of the operator (in addition to the present emergency stop buttons). Manipulator motions are controlled through an axis select button in conjunction with a positive or negative jog button that is depressed by the operator. Once the operator has selected an axis, he depresses one of the jog buttons for the desired travel distance.This function was selected to be controlled by the VRCC because of its utilization during automatic operation of the manipulator to correct trajectory errors. The circuitry necessary to control this operation draws the signal to ground through the activation of relays for the positive or negative jog motion. Because motion is achieved only as long as these signals are active low. they can be controlled by discrete digital signals from the VRCC. Analog Control Signals There are many variables that affect the quality of weld during the welding process. but the welding current has the greatest effect over a small range of values. It was for this reason, that the welding current was chosen to be controlled by the voice recognition system. The welding power supply controls the current level through a voltage circuit that uses a range of 0-10 V DC. These voltage values are converted to current levels from 0 to 300 A for welding. A digital-to-analog converter is used in conjunction with a multiplying circuit. The converter allows the VRCC to control a voltage level that is used by the weld power supply to achieve the proper welding current. The multiplier circuit is necessary to allow the weld power supply to be controlled by the other subcontroller used in the workcell. Experimental Investigation The accuracy and speed of response of corrections to robot manipulator motion and welding process variables made with the VRCC are being compared with those made with the original control system. Step input errors to robot motion and welding current are introduced randomly into the robot program. By graphically recording relevant system output signals,the time required for the operator to detect the change and initiate corrective action may be measured. Response accuracy and stability may also be gaged through similar analysis of the relevant recorded system output signals. Conclusions Future work will investigate voice control of welding filler wirefeed speed and location of wire entry into the weld pool. Also to be investigated is voice control of welding arc voltage override. Later, restriction of access to the robot program editor by voice recognition may be implemented. The use of voice recognition technology for manual supervisory control of industrial robot systems is very promising. This technology has application for aerospace welding due to the need to have constant human supervision over a multitude of process parameters in real time. Future development of this technology will permit rapid expansion of its application to both robotic and nonrobotic processes. Acknowledgment Special thanks to Mr. Jeff Hudson of Martin Marietta Corporation for assistance in the preparation of the illustration presented in this article. References [1] C. A . Simpson. hl. E. McCauley. E. F. Rolland. J . C. Ruth. and B. H. Williges. "System Design for Speech Recognition and Generation." Hutnnn Factors. vol. 27. no. 2. pp.115-1-11. 1985. [2] National Research Council. Committee on Computerized Speech Recognition Technologies.Automatic Speech Rerop1irior1 in severe Environments National Research Council.1984. [3] E. J. Lerner. "Talking to Your Aircraft." Aerospace America. vol. 24. no. 2. pp. 85-88. 1986. [4] J. T. Memlield. "Bosing Explores Voice Recognition for Future Transpon Flight Deck." Ariarinn Week and Space Techno/- og!. vol. 124. no. 16. pp. 85-91. 1986. [5] A. Cohen and J. D. Erickson, ..Future Uses of Machine Intelligence and Robotics for the Space Station and Implications for the U.S. Economy.'' IEEE J. Robotics and Automarion.vol. SMC-16. pp. 1 11-12 I. Jan.iFeb.1986 [6] "Automation and Robotics for the National Space Program," California Space Institute Automation and Robotics Panel. Cal Space Repon CS1185-01, Feb. 25, 1985. [7] "Advancing Automation and Robotics Technology for the Space Station and for the U.S. Economy." Advanced Technology AdvisoryCommittee. NASA TM 87566. Mar. 1985. 使用語音識別技術控制的焊接機器人工作單元 摘要：本文論述了使用聲音識別技術的焊接機器人工作單元在工作過程中的效果、程序編輯者接近機器人的安全﹑試行運轉的必要性﹑焊接過程的控制變量﹑機器人操作者的動作規(guī)范等因素給與考慮。在焊接過程控制和操作動作兩個方面，按照反應速度﹑定位精確性﹑焊接穩(wěn)定性﹑焊接可靠性和安全性把人工聲音控制與手工觸覺控制和完全自動化控制進行了比較。 緒論 聲音識別技術已經成為可能緩解操作者工作負擔的一種有潛力的復雜系統(tǒng)。許多應用已經落實,或正陸續(xù)開發(fā),或正在研究之中。這些措施包括數據的輸入﹑飛機的控制﹑和以安全為目的的語音識別。 許多應用語音控制技術還建議用于太空站. 一個主要的應用領域將機器人控制功能用于太空艙內檢查、裝配、維修、衛(wèi)星回收、維修衛(wèi)星,是在船上服務的監(jiān)督能力和系統(tǒng)運作模式的反饋. 聲音感應器和過程控制的變數將使船員影響他手上的其它工作,例如直接控制或推翻的操縱議案。 同樣,利用工作量控制機載實驗這種技術可以緩解許多工作負擔。 這份文件描述應用語音識別控制的焊接機器人工作單元。 這是一個復雜的系統(tǒng),涉及多個傳感器及控制投入各種機械操作件和變化多樣的工藝參數。雖然許多功能是自動化，且為人類監(jiān)督管理能力所控制,但在必要時隨時準備超越這些功能。 在當前的調查中， 在美國航天局的馬歇爾空間飛行中心可供商業(yè)使用語音識別系統(tǒng)結合了焊接機器人工作單元的技術，這一技術作為試點的評價和開發(fā)先進技術并用于制造航天飛機主發(fā)動機。在系統(tǒng)開發(fā)中，有些功能尚不具備自動跟蹤控制,因此需要不斷地人力監(jiān)測和實時調整操作。目前,該系統(tǒng)投入方案是通過觸覺指令(即： 推動按鈕. 旋轉電位計、或者調整機械裝置)。由于操作過程中,主要監(jiān)測者必須考慮在遠離的過程中尋找適當的按鈕或把手或靠像打字員一樣那種打字時的肌肉記憶。第二種情況，可能由于操作者的的二次反應而增加了錯誤發(fā)生的可能性。 一個語音識別系統(tǒng)可減少操作者的反應時間。操作者按錯按鈕的可能性了同樣的也會減少。并且,操作者勞累也會大大減小。 由于在方案運行的過程中操作者不斷監(jiān)測，可以更快地觀察到運行狀況改變所帶來的影響。 因此,如果超過了預期值,應該更快糾正,，但不能太過度。 這對減少振蕩,使系統(tǒng)更加穩(wěn)定的實現了預期的價值。 另一個因素是可以改善操作者的安全.。在一個安全的緊急情況下，機器人的操作者可以采取緊急停止來停止其運行，這種緊急停止模式一般來說是設置一個大按鈕，按慣例是一種經常用的方式。如果操作者無意中發(fā)現自己在危險的情況下，這時也許他有必要采取緊急停止這種模式。如果操作者不能夠按到的按鈕，可他也沒有能力采取必要的行動時，這樣下去，他可能會受重