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外文原文 Introduction to Industrial Robots Industrial robets became a reality in the early 1960’s when Joseph Engelberger and George Devol teamed up to form a robotics company they called “Unimation”. Engelberger and Devol were not the first to dream of machines that could perform the unskilled, repetitive jobs in manufacturing. The first use of the word “robots” was by the Czechoslovakian philosopher and playwright Karel Capek in his play R.U.R.(Rossum’s Universal Robot). The word “robot” in Czech means “worker” or “slave.” The play was written in 1922. In Capek’s play , Rossum and his son discover the chemical formula for artificial protoplasm. Protoplasm forms the very basis of life.With their compound,Rossum and his son set out to make a robot. Rossum and his son spend 20 years forming the protoplasm into a robot. After 20 years the Rossums look at what they have created and say, “It’s absurd to spend twenty years making a man if we can’t make him quicker than nature, you might as well shut up shop.” The young Rossum goes back to work eliminating organs he considers unnecessary for the ideal worker. The young Rossum says, “A man is something that feels happy , plays piano ,likes going for a walk, and in fact wants to do a whole lot of things that are unnecessary … but a working machine must not play piano, must not feel happy, must not do a whole lot of other things. Everything that doesn’t contribute directly to the progress of work should be eliminated.” A half century later, engineers began building Rossum’s robot, not out of artificial protoplasm, but of silicon, hydraulics, pneumatics, and electric motors. Robots that were dreamed of by Capek in 1922, that work but do not feel, that perform unhuman or subhuman, jobs in manufacturing plants, are available and are in operation around the world. The modern robot lacks feeling and emotions just as Rossum’s son thought it should. It can only respond to simple “yes/no” questions. The moderrn robot is normally bolted to the floor. It has one arm and one hand. It is deaf, blind, and dumb. In spite of all of these handicaps, the modern robot performs its assigned task hour after hour without boredom or complaint. A robot is not simply another automated machine. Automation began during the industrial revolution with machines that performed jobs that formerly had been done by human workers. Such a machine, however , can do only the specific job for which it was designed, whereas a robot can perform a variety of jobs. A robot must have an arm. The arm must be able to duplicate the movements of a human worker in loading and unloading other automated machines, spraying paint, welding, and performing hundreds of other jobs that cannot be easily done with conventional automated machines. DEFINITION OF A ROBOT The Robot Industries Association(RIA) has published a definition for robots in an attempt to clarify which machines are simply automated machines and which machines are truly robots. The RIA definition is as follows: “A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” This definition, which is more extensive than the one in the RIA glossary at the end of this book, is an excellent definition of a robot. We will look at this definition, one phrase at a time, so as to understand which machines are in fact robots and which machines are little more than specialized automation. First, a robot is a “reprogrammable multifunctional manipulator.” In this phrase RIA tells us that a robot can be taught (“reprogrammed”) to do more than one job by changing the informaion stored in its memory. A robot can be reprogrammed to load and unload machines, weld, and do many other jobs (“multifunctional”). A robot is a “manipulator”. A manipulator is an arm( or hand ) that can pick up or move things. At this point we know that a robot is an arm that can be taught to do different jobs. The definition goes on to say that a robot is “designed to move material, parts, tools, or specialized devices.” Material includes wood,steel, plastic, cardboard… anything that is used in the manufacture of a product. A robot can also handle parts that have been manufactured. For example, a robot can load a piece of steel into an automatic lathe and unload a finished part out of the lathe. In addition to handling material and parts, a robot can be fitted with tools such as grinders, buffers, screwdrivers, and welding torches to perform useful work. Robots can also be fitted with specialized instruments or devices to do special jobs in a manufacturing plant. Robots can be fitted with television cameras for inspection of parts or products. They can be fitted with lasers to accurately mearure the size of parts being manufactured. The RIA definition closes with the phrase,”…through variable programmed motions for the performance of a variety of tasks.” This phrase emphasizes the fact that a robot can do many different jobs in a manufacturing plant. The variety of jobs that a robot can do is limited only by the creativity of the application engineer. JOBS FOR ROBOTS Jobs performed by robots can be divided into two major categories:hazardous jobs and repetitive jobs. Hazardous Jobs Many applications of robots are in jobs that are hazardous to humans. Such jobs may be considered hazardous because of toxic fumes, the weight of the material being handled, the temperature of the material being handled, the danger of working near rotating or press machinery, or environments containing high levels of radiation. Repetitive Jobs In addition to taking over hazardous jobs, robots are well suited to doing extremely repetitive jobs that must be done in manufacturing plants.many jobs in manufacturing plants require a person to act more like a machine than like a human. The job may be to pick a piece up from here and place it there. The same job is done hundreds of times each day. The job requires little or no judgment and little or no skill. This is not said as a criticism of the person who does the job , but is intended simply to point out that many of these jobs exist in industry and must be done to complete the manufacture of products. A robot can be placed at such a work station and can perform the job admirably without complaining or experiencing the fatigue and boredom normally associated with such a job. Although robots eliminate some jobs in industry, they normally eliminate jobs that humans should never have been asked to do. Machines should perform as machines doing machine jobs, and humans should be placed in jobs that require the use of their ability,creativity, and special skills. POTENTIAL FOR INCREASED PRODUCTIVITY In addition to removing people from jobs they should not have been placed in, robots offer companies the opportunity of achieving increased productivity. When robots are placed in repetitive jobs they continue to operate at their programmed pace without fatigue. Robots do not take either scheduled or unscheduled breaks from the job. The increase in productivity can result in at least 25% more good parts being produced in an eight-hour shift. This increase in productivity increases the company's profits, which can be reinvested in additional plants and equipment. This increase in productivity results in more jobs in other departments in the plant. With more parts being produced, additional people are needed to deliver the raw materials to the plant, to complete the assembly of the finished products, to sell the finished products, and to deliver the products to their destinations. ROBOT SPEED Although robots increase productivity in a manufacturing plant, they are not exceptionally fast. At present, robots normally operate at or near the speed of a human operator. Every major move of a robot normally takes approximately one second. For a robot to pick up a piece of steel from a conveyor and load it into a lathe may require ten different moves taking as much as ten seconds. A human operator can do the same job in the same amount of time . The increase in productivity is a result of the consistency of operation. As the human operator repeats the same job over and over during the workday, he or she begins to slow down. The robot continues to operate at its programmed speed and therefore completes more parts during the workday. Custom-built automated machines can be built to do the same jobs that robots do. An automated machine can do the same loading operation in less than half the time required by a robot or a human operator. The problem with designing a special machine is that such a machine can perform only the specific job for which it was built. If any change is made in the job, the machine must be completely rebuilt, or the machine must be scrapped and a new machine designed and built. A robot, on the other hand, could be reprogrammed and could start doing the new job the same day. Custom-built automated machines still have their place in industry. If a company knows that a job will not change for many years, the faster custom-built machine is still a good choice. Other jobs in factories cannot be done easily with custom-built machinery. For these applications a robot may be a good choice. An example of such an application is spray painting. One company made cabinets for the electronics industry. They made cabinets of many different sizes, all of which needed painting. It was determined that it was not economical for the company to build special spray painting machines for each of the different sizes of enclosures that were being built. Until robots were developed, the company had no choice but to spray the various enclosures by hand. Spray painting is a hazardous job , because the fumes from many paints are both toxic and explosive. A robot is now doing the job of spraying paint on the enclosures. A robot has been “taught” to spray all the different sizes of enclosures that the company builds. In addition, the robot can operate in the toxic environment of the spray booth without any concern for the long-term effect the fumes might have on a person working in the booth. FLEXIBLE AUTOMATION Robots have another advantage: they can be taught to do different jobs in the manufacturing plant. If a robot was originally purchased to load and unload a punch press and the job is no longer needed due to a change in product design, the robot can be moved to another job in the plant. For example, the robot could be moved to the end of the assembly operation and be used to unload the finished enclosures from a conveyor and load them onto a pallet for shipment. ACCURACY AND REPEATABILITY One very important characteristic of any robot is the accuracy with which it can perform its task. When the robot is programmed to perform a specific task, it is led to specific points and programmed to remember the locations of those points. After programming has been completed, the robot is switched to “run” and the program is executed. Unfortunately, the robot will not go to the exact location of any programmed point. For example, the robot may miss the exact point by 0.025 in. If 0.025 in. is the greatest error by which the robot misses any point- during the first execution of the program, the robot is said to have an accuracy of 0.025 in. In addition to accuracy , we are also concerned with the robot’s repeatability. The repeatability of a robot is a measure of how closely it returns to its programmed points every time the program is executed. Say , for example, that the robot misses a programmed point by 0.025 in. the first time the program is executed and that, during the next execution of the program, the robot misses the point it reached during the previous cycle by 0.010 in. Although the robot is a total of 0.035 in. from the original programmed point, its accuracy is 0.025 in. and its repeatability is 0.010 in. THE MAJOR PARTS OF A ROBOT The major parts of a robot are the manipulator, the power supply, and the controller. The manipulator is used to pick up material, parts, or special tools used in manufacturing. The power supply suppplies the power to move the manipulator. The controller controls the power supply so that the manipulator can be taught to perform its task. 外文翻譯 工業(yè)機(jī)器人的介紹 20世紀(jì)60年代當(dāng)約瑟夫和喬治合作創(chuàng)立了名為Unimation的機(jī)器公司，工業(yè)機(jī)器人便成為了一個(gè)事實(shí)。 約瑟夫和喬治不是第一個(gè)夢(mèng)想在制造過(guò)程中機(jī)器可以執(zhí)行沒(méi)有技巧的、重復(fù)的工作?！皺C(jī)器人”這個(gè)詞被捷克哲學(xué)家和劇作家卡瑞卡皮克在他的劇本RUR(羅斯的多才多藝的機(jī)器人）中第一次使用。在捷克“機(jī)器人”這個(gè)詞是“工人”或者“奴隸”的意思。這個(gè)劇本是1922年寫的。 在卡皮克的劇本中，羅斯和他的兒子發(fā)明了人造細(xì)胞質(zhì)的化學(xué)配方。細(xì)胞質(zhì)是構(gòu)成生命的最主要的成分，用他們細(xì)胞質(zhì)的混合物，羅斯和他的兒子開(kāi)始制造機(jī)器人。 羅斯和他的兒子花了20年的時(shí)間制成了細(xì)胞質(zhì)并注入給了機(jī)器人。20年后羅斯仔細(xì)看著他們已經(jīng)創(chuàng)造出來(lái)的機(jī)器人說(shuō)：“這個(gè)花了我們20年全部精力做出來(lái)的人，如果我們不能讓他比將來(lái)的人類更靈活的話，還是把店鋪關(guān)閉的好?！? 小羅斯回去為理想中的工人去掉他認(rèn)為多余的器官。小羅說(shuō):“人類感覺(jué)做某些事快樂(lè)，像彈鋼琴、散步，然而事實(shí)上做許多完整的事情是不需要的…但是一個(gè)正在工作的機(jī)器不需要會(huì)彈鋼琴，不需要感到快樂(lè)，不需要做很多完整的事情。如果每個(gè)器官不能促進(jìn)工作正常的發(fā)展就應(yīng)該被去掉。 半個(gè)世紀(jì)以后，工程師們開(kāi)始建造羅斯的機(jī)器人，不是用人造細(xì)胞質(zhì)制成的，而是用硅、液壓、氣體和電動(dòng)機(jī)。1922年卡皮克夢(mèng)想的機(jī)器人工作了但是沒(méi)有感覺(jué)，它在制造工廠做著非人類或者近似人類的工作，它在全世界都是便于利用和操作的。 正如羅斯的兒子所想的，現(xiàn)代的機(jī)器人缺乏感情和情緒。它僅僅對(duì)簡(jiǎn)單的是或者不是的問(wèn)題有回應(yīng)。現(xiàn)代的機(jī)器人通常用螺栓固定在地板上，它有一個(gè)手臂和一把手，它是聾的、瞎的和啞的。盡管全是障礙，現(xiàn)代機(jī)器人仍然沒(méi)有厭煩和和怨言的一小時(shí)又一小時(shí)的執(zhí)行著它被指定的工作。 一個(gè)機(jī)器人不僅僅是一個(gè)自動(dòng)機(jī)。自動(dòng)化始于工業(yè)革命用機(jī)器人來(lái)做以前由工人完成工作的期間。然而這樣一個(gè)自動(dòng)機(jī)僅僅能做它被設(shè)計(jì)的特定的工作，而一個(gè)機(jī)器人卻可以做各種各樣的工作。 一個(gè)機(jī)器人必須有一個(gè)手臂，這個(gè)手臂必須會(huì)一個(gè)人在裝載和卸載其它自動(dòng)機(jī)、噴漆、焊接和執(zhí)行上百種其它用常規(guī)的自動(dòng)機(jī)不容易完成的工作完全一樣的動(dòng)作。 機(jī)器人的定義 工業(yè)機(jī)器人協(xié)會(huì)已經(jīng)為機(jī)器人公布了一個(gè)定義，試圖闡明哪種機(jī)器僅僅是自動(dòng)機(jī)和哪種機(jī)器是真真的機(jī)器人。工業(yè)機(jī)器人協(xié)會(huì)的定義如下： 機(jī)器人是一個(gè)可重復(fù)編程的機(jī)械手，目的在于移動(dòng)材料、零部件、機(jī)床，或者為了完成各種各樣的任務(wù)而調(diào)整程序指令的專用裝置。 這個(gè)定義比供個(gè)機(jī)器人協(xié)會(huì)在這本書的最后定義的說(shuō)法更廣泛，是一個(gè)對(duì)機(jī)器人最好的定義。我們將接受這個(gè)定義同時(shí)還有這個(gè)說(shuō)法，為了理解哪種機(jī)器是真正的機(jī)器人而哪種機(jī)器人僅僅是超過(guò)了專業(yè)自動(dòng)化的機(jī)器。 首先，機(jī)器人是一個(gè)：“可重復(fù)編程的多功能的機(jī)械手?！痹谶@個(gè)說(shuō)法中工業(yè)機(jī)器人協(xié)會(huì)告訴我們一個(gè)機(jī)器人可以被教會(huì)（重復(fù)編程）去做更多的工作，通過(guò)改變儲(chǔ)存在它們記憶中的信息。一個(gè)機(jī)器人可以為了裝載和卸載機(jī)器、焊接和做很多其他的工作（多功能的）而被重新編程。機(jī)器人是一個(gè)“機(jī)械手”。機(jī)械手是一個(gè)手臂（或者手），它能拿起或者移動(dòng)物體。正是這樣我們?yōu)榱私獾綑C(jī)器人是一個(gè)可以被教會(huì)做不同工作的手臂。 這個(gè)定義還說(shuō)明了機(jī)器人的目的是“移動(dòng)材料、零件、機(jī)床或者專用裝置。” 材料包括木頭、鋼鐵、塑料、卡片等等產(chǎn)品在制造過(guò)程中所用到的東西。 機(jī)器人也可以拆卸已經(jīng)制造完的零件。例如：機(jī)器人可以把一塊鐵裝載到自動(dòng)車床上并且車床上卸載已經(jīng)加工完的零件。 除此之外機(jī)器人還可以拆卸材料和零件，可以安裝機(jī)床例如磨床、沖床、鉆床和為了完成有效工作的焊接噴燈。 機(jī)器人也可以安裝在制造車間為了完成特殊工作的專用裝置。為了檢查零件或者產(chǎn)品機(jī)器人可以安裝電視攝像機(jī)，為了精確的測(cè)量已制造完零件的尺寸它們還可以安裝激光。 工業(yè)機(jī)器人協(xié)會(huì)的定義接近這樣的說(shuō)法，“為了完成各種各樣的任務(wù)可以通通過(guò)改變機(jī)器人的程序指令?！边@種說(shuō)法著重強(qiáng)調(diào)了在制造車間機(jī)器人可以做很多不相同的工作。機(jī)器人被應(yīng)用工程師的創(chuàng)造力限制在僅能做大量的工作上。 機(jī)器人的工作 機(jī)器人可以完成的工作被分成兩個(gè)主要的類型：有害工作和重復(fù)工作。 有害工作 機(jī)器人在工作中的許多應(yīng)用對(duì)人類是有害的。處理材料的重量，調(diào)整材料的溫度，靠近旋轉(zhuǎn)或緊貼機(jī)器的危險(xiǎn)工作或者含有高放射物的環(huán)境，由于有有毒煙氣，這種工作被認(rèn)為是有害的。 重復(fù)工作 除了掌管有害工作外，機(jī)器人還要認(rèn)真的學(xué)習(xí)在制造車間必須被做的非常重復(fù)的工作。在制造車間的很多工作需要一個(gè)人扮演的比人類更像一個(gè)機(jī)器。把一個(gè)部件從這兒放置到那兒，這樣的工作每天要做上百次，這種工作幾乎不需要判斷力和技巧，這并不是批評(píng)做這種工作的人，而僅僅是想指出在工業(yè)中存在很多這樣的工作，并且為了完成產(chǎn)品的制造必須要做。機(jī)器人可以被安排在這樣的崗位上，并且它能夠沒(méi)有抱怨或者經(jīng)驗(yàn)很好的完成這種在正常情況下和疲勞、厭煩聯(lián)系在一起的工作。 盡管機(jī)器人完成了工業(yè)中的一些工作，但它們正常完成的是人類從來(lái)沒(méi)有要求被做的工作。機(jī)器應(yīng)該執(zhí)行機(jī)器做的工作，而人類應(yīng)該需要用他們的能力、創(chuàng)造力和特殊技巧來(lái)完成工作。 增加產(chǎn)量的潛能 除了完成人們?cè)诠ぷ髦胁荒芡瓿傻墓ぷ魍?，機(jī)器人還提供給工廠實(shí)現(xiàn)增加產(chǎn)量的機(jī)會(huì)。當(dāng)機(jī)器人執(zhí)行重復(fù)工作的時(shí)候它們不知疲倦的繼續(xù)執(zhí)行著它們的程序指令。機(jī)器人終止工作不需要預(yù)定和不預(yù)定。在八小時(shí)輪班工作時(shí)增加的產(chǎn)量導(dǎo)致至少25%更好的零件被生產(chǎn)。這種增大的產(chǎn)量增加了公司的利潤(rùn)，它可以被在投資到另外的車間或設(shè)備上。產(chǎn)量的增加使工廠的其他部門產(chǎn)生了更多的工作。為了生產(chǎn)更多的零件，其余的人需要把未加工的材料送到車間，去完成已加工完產(chǎn)品的裝配，去銷售已完工的零件，并且把產(chǎn)品送到他們的目的地。 機(jī)器人的速度 盡管機(jī)器人增加了制造車間的產(chǎn)量，但它們不是特別快。目前，機(jī)器人正常的操作速度大約接近操作工人的速度。機(jī)器人的每一個(gè)主要運(yùn)動(dòng)正常情況下大概要花一秒鐘的時(shí)間。機(jī)器人從傳送機(jī)上取下一塊鐵并把它裝載到車床上需要十種不同的運(yùn)動(dòng)，要花多達(dá)十秒鐘的時(shí)間，與一個(gè)操作工人做一樣的工作花的時(shí)間是相等的，產(chǎn)量的增加是操作一致性的一個(gè)結(jié)果。當(dāng)操作工人在工作日期間反復(fù)的重復(fù)著同一個(gè)工作，他或她的生產(chǎn)便開(kāi)始放慢了，而機(jī)器人卻繼續(xù)運(yùn)行著它的程序速度，因此在工作日期間完成了更多的零件。 傳統(tǒng)制造的自動(dòng)化機(jī)器可以被修改成能和機(jī)器人做一樣工作的機(jī)器。一個(gè)自動(dòng)化的機(jī)器做同樣的裝載操作所用的時(shí)間還不到一個(gè)機(jī)器人和一個(gè)操作工人所用時(shí)間的一半。設(shè)計(jì)一個(gè)專用機(jī)器的問(wèn)題是，這樣一臺(tái)機(jī)器只能完成它被設(shè)定的具體的工作，如果工作中發(fā)生了一些改變，這樣的機(jī)器就必須被徹底的重新改造或者必須被遺棄，并且要設(shè)計(jì)制造一個(gè)新的機(jī)器。相反地，一個(gè)機(jī)器人可以被重新編程并且在同一天可以開(kāi)始做新的工作。 在工業(yè)中傳統(tǒng)制造的自動(dòng)機(jī)仍然有它們的位置。如果工廠發(fā)現(xiàn)一個(gè)工作很多年將不會(huì)改變，比較快的傳統(tǒng)那個(gè)制造的機(jī)器仍然是一個(gè)好的選擇。 工廠里的其它工作用傳統(tǒng)制造的機(jī)器不容易完成的話，在這種情況下機(jī)器人或許是一個(gè)好的選擇。例如噴漆這樣的工作。一個(gè)工廠為電子行業(yè)生產(chǎn)機(jī)殼，他們生產(chǎn)很多不同形狀的機(jī)殼，所有的機(jī)殼都需要噴漆。很明確，為一個(gè)已加工完的不同形狀的機(jī)殼制造專門的噴漆機(jī)器對(duì)工廠來(lái)說(shuō)是不經(jīng)濟(jì)的。工廠別無(wú)選擇只能用手給各種不同的機(jī)殼噴漆，直到機(jī)器人被發(fā)明。 噴漆是有害工作，因?yàn)楹芏嘤推岙a(chǎn)生的氣體是有毒的和爆炸性的。機(jī)器人現(xiàn)在正在做著在外殼上噴漆的工作。除此之外，機(jī)器人還能為了在長(zhǎng)期產(chǎn)生有毒氣體的房間中工作的人們?cè)跊](méi)有任何關(guān)心的噴漆房間的有毒環(huán)境中操作。 靈活的自動(dòng)化 機(jī)器人還有另一個(gè)用途：它們可以被教會(huì)在制造車間中做不同的工作。如果一個(gè)機(jī)器人本來(lái)買來(lái)是為了裝載和卸載沖床的，由于產(chǎn)品設(shè)計(jì)的改變這個(gè)工作不再需要，機(jī)器人可以被轉(zhuǎn)到車間的其它工作上。例如，機(jī)器人可以被轉(zhuǎn)去做最后的裝配工作，可以用來(lái)從運(yùn)輸機(jī)上卸載以加工完的機(jī)殼并且把它們裝載到運(yùn)輸貨架上。 準(zhǔn)確度和可重復(fù)性 任何機(jī)器人都有一個(gè)很重要的特征就是它完成任務(wù)的準(zhǔn)確度。當(dāng)機(jī)器人為了完成一個(gè)特殊的工作被編程的時(shí)候，它就產(chǎn)生特定的點(diǎn)，并且程序記住了這些點(diǎn)所在的位置。程序被編完以后，機(jī)器人就被打開(kāi)程序被執(zhí)行。可惜的是機(jī)器人將不能準(zhǔn)確的到達(dá)程序指定的位置。例如：機(jī)器人在靠近0.025英尺的時(shí)候可能錯(cuò)過(guò)精確地位置。如果機(jī)器人在第一次執(zhí)行程序期間錯(cuò)過(guò)了指定位置的0.025英尺便是最大的錯(cuò)誤。因?yàn)闄C(jī)器人被設(shè)定有一個(gè)0.025英尺的準(zhǔn)確度。 除了準(zhǔn)確度之外，我們還關(guān)心機(jī)器人的可重復(fù)性。機(jī)器人的可重復(fù)性是每次程序被執(zhí)行完怎樣關(guān)閉讓它回到程序指定點(diǎn)的一個(gè)性能。比如說(shuō)，機(jī)器人執(zhí)行第一次程序靠近0.025英尺時(shí)錯(cuò)過(guò)了程序指定點(diǎn)，在下一次執(zhí)行程序期間，機(jī)器人就會(huì)錯(cuò)過(guò)它到達(dá)第一次循環(huán)到0.01英尺時(shí)候的位置。從最初的程序指定位置，機(jī)器人總共有0.035英尺，它的準(zhǔn)確度是0.025英尺，可重復(fù)性是0.01英尺。 機(jī)器人的主要部分 機(jī)器人的主要部分是機(jī)械手，電源和負(fù)責(zé)人。 機(jī)械手用來(lái)搬運(yùn)材料，零件或者用在制造中的專用機(jī)床。電源提供能量來(lái)操縱機(jī)械手。負(fù)責(zé)人操縱著電源為了機(jī)械手完成它的任務(wù)。