機器人路徑規劃畢業論文外文翻譯-資料下載頁

　　

【正文】 e robot then picked up a new part and it is placed into the machine, then, the controller send a signal to the machine to get it started manipulation of the drum controller can be constituted, the work place by order of the drum controller for a very simple robot in most of the robot system controller is a very plex device, which reflects the modern electronic other words, they are manipulated by the microinformation microinformation processors instead of 8 bits, 16 bits of information that is 32bit feature allows the controller to run with very good can send electronic signals through the munication line to issue with the mechanical hand signals to municate with the axis of the robot manipulator and controller, this twoway munication between the location and operation makes the system constantly revised and updated to maintain the state may The controller can also control the robot wrist in the end installed any are different controller puters and factory to carry out the task of munication, the munication network will enable the robot to bee puteraided manufacturing(CAM part of the to the basic definition, the robot is a multifunction can be reprogrammed , the controller must include some form of memory storage, to microprocessorbased information systems are often associated with solidstatememory device with the memory devices can be magnetic bubbles, random access memory device, soft plastic disk or memory storage device programming information can be stored for later recall using source Source of power to the controller and the robot was powered device, there are two types of robot power supply for a class of power is power to run the exchange point, and the other is used to drive the robot example, if the robot manipulator controlled by a hydraulic or pneumatic device, the control signal is sent to these devices to make the robot robot systems require power to drive the robot, this source of power either by hydraulic power, pneumatic power source, power source can also be provided by electricity, the power source is a unit of work the robot parts and equipment in the total the hydraulic power source with and connected to the base manipulator, hydraulic pressure source to produce the hydraulic fluid, the fluid transport of the control ponents to the robot, so the robot base rotated around the air is fed to the robot, the axis along the track in a straight line, the source can also be connected to such a pneumatic drill, it can provide power for the drill normal circumstances, can be obtained from the factory air supply station for the source and make adjustments, and then enter it in the axis motor type can also be a sends out pulses of the signal was sent to the robot pulses provide the necessary instructions for the motor information to enable the robot in the robot base threeaxis robot for power systems either require the use of feedback control systems, this system will continue to position data for each axis of feedback to the robot system not only need power to start the robot axis, also need power to drive the controller, this dynamic manufacturing environment, the power source can of end pieces In most applications where the robot to see implementation of end pieces are connected to the robot wrist flange of a device, end pieces can be used in the production areas of theimplementation of many different occasions, for example, it can be used to pick up parts, used for welding, or for painting, the implementation of parts for the robot end system provides the flexibility of the robot must designed to meet the end of the implementation of pieces of the robot ponents can robot manufacturer or owner of manufacturing robot implementation of the system end the only thing the robot can be a work into another working parts, for example, are available from the cutting machine is connected with the water, which is used in the automotive production line cutting also request the robot placed the parts to disk, in this simple process, change the end of the implementation of parts of the robot, the robot can be used for other applications, the implementation of end pieces may change, and then the robot programmed allows the system to have high Sensor Although the robot has great ability, but often than not with a little practice, but the example, workers can find parts that fall to the ground or no parts feeder, but not the sensor, the robot will not get this information in a timely manner using the most sophisticated sensors, the robot is smaller than an experienced worker Therefore, a good robot system design requires many sensor and robot controller using the phase, it was as close as possible operative most frequently used robotics sensors into contact with the sensors can be further divided into tactile sensors, force and torque or contact sensors can be measured by the driveside and the actual contact between other objects, microswitch is a simple tactile sensor, the robot may be angry when the client contact with other objects, the sensor is the robot to stop work and avoid objects between collisions, tell the robot has reached the goal。or when used to measure the size of objects and torque sensors in the robot gripper and wrist was the last joint, or between the parts on the robot to carry a measured reaction force and and torque sensors are mounted on the flexible piezoelectric sensors and strain gauges on the sensors include proximity sensors, vision sensors, sound detectors, sensitive ponents and sensors and labeling of objects near the example, eddy current sensor can be used to accurately maintain a fixed distance between the most simple robot proximity sensors including a lightemitting diode and a photodiode receiver transmitter, receiver reflector closer to the reflection of light, the main disadvantage of this sensor is closer to the object reflectance of light will affect the received other was close to the sensor using a capacitance and inductance