畢業(yè)論文外文翻譯-機器人

1、英文資料與中文翻譯Robotics1、The Robotics ApplicationMany of the robots in use today do jobs that are especially difficult for human workers. These are the types of jobs that require great strength or pose danger. For example, robots are particularly useful in the auto-manufacturing industry where parts of au

2、tomobiles must be welded together. A welding tool used by a human worker weighs about 100 pounds or more and is difficult to handle. As mechanical supermen, robots may be called upon to do anything from moving heavy components between workstations on a factory floor to carrying bags of cement.Spray

3、painting is another task suited to robots because robots do not need to breathe. Unlike human painters, they are unaffected by the poisonous fumes. Robots are better at this task, not because they are faster or cheaper than humans, but because they work in a place where humans cannot.Third in the li

4、st of useful jobs for robots is the assembly of electronic parts. Robots shine at installing chips in printed circuit boards because of a capability thatrobots have that people don t. A robot, once properly programmed, will mot put a chip in the wrong place. This automatic accuracy is particularly v

5、aluable in this kind of industry because locating and fixing mistakes is costly2、Robotics RevolutionEarlier robots were usually blind and deaf, but newer types of robots are fitted with video cameras and other sensing devices that can detect heat, texture, size, and sound. These robots are used in s

6、pace projects, nuclear reactor stations, and underwater exploration research.In their efforts to expand the range of robotic applications, researchers are looking beyond traditional designs to examine a variety of potential models from the biological word. The industrial arm is a classic example. Sc

7、ientists have been able to model robots to imitate the vertebrate spine of a snake in order to paint the interior of天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計automobiles. They have simulated the muscle structure and movement of and elephant s trunk in am attempt to create a ticroboarm capable of lifting heavy objects.

8、Scientists also emulate the flexibility of an octopus where the tentacles can conform to the fragile objects of any shape and hold them with uniform, gentle pressure. A variation of this design can be used to handle animals, turn hospital patients in their beds, or lift a small child.The challenger

9、of equipping robots with the skills to operate independently, outside of a factory or laboratory, has taxed the ingenuity and creativity of academic,military, and industrial scientists for years. Simply put robot hands like robot legs, or eyes, or reasoning powershave long way to go before they can

10、approach what biological evolution has achieved over by the course of hundreds of millions of years. Much more will have to happen in laboratories around the world before the robots canbe compared to nature s handiwork.In the meantime, the robotics revolution is already beginning to change the kind

11、of work that people do. The boring and dangerous jobs are now assumed by robots. By the not do. There are also some industrialists who hope that by the year 2000 all their employees will be knowledge workers, no longer standing on assembly lines but rather sitting at desks and computer terminals to

12、deal with information. These changes are already under way, and their pace accelerates every year.3、Intelligent RobotsA new phase in robot applications has been opened with the development of “ intelligentrobots ” . An intelligentrobot is basically one that must be capable of sensing its surrounding

13、 and possesses intelligence enough to respond to a changing to a changing environment in much the same way as we do. Such ability requires the direct application of sensory perception and artificial intelligence. Much of research in robotics has been and is still concerned with how to equip robots w

14、ith visual sensorseyes and tactile sensors the “ fingers ” . Artificial intelligence will enable the robot to respond to and adapt to changes in its task and in its environment, and to reason and made decisions in reaction to those changes.1天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計4、Visional SensoryMuch effort has be

15、en made to simulate similar human sensory abilities for intelligent robots. Among them, vision is the most important sense as it is estimated that up go 80% of sensory information is received by vision. Vision can be bestowed on robotic systems by using imaging sensors in various ways. For improving

16、 accuracy of performances, it can help precisely adjust the robot hand by means of optical feedback control using visual sensors. Determining the location, orientation, and recognition of the parts to be picked up is another important application.Among the vision system, one of the key components is

17、 imagery sensor. The imagery sensor of a robot system is defined as an electro-optical device that converts an optical image to a video signal. The image sensor is usually either a TV-camera of a solid state sensory device, for example, charge-couple devices (CCD). The latter device offers greater .

18、sensitivity, long endurance and lightweight, and is thus welcome when compared with the TV-camera. The camera system contains not only the camera detector but also, and very importantly, a lens system. The lens determines the field of view, the depth of focus, and other optical factors that directly

19、 affect the quality of the image detected by the camera.Either TV-camera or CCDs produce an image by generating an analogue value on every pixel, proportional to its light intensity. To enable a digital computer to work with this signal, an analogue-to-digital (A/D) converter is needed to transfer a

20、nalogue into digital data, then store in random access memory (RAM), installed in computer.The computer analyzes the data and extracts such imagery information as edges, regions, colors and textures of the objects in the image. Finally, the computer interprets or understands what the image represent

21、s in terms of knowledge about the scene and gives the robot a symbolic description of its environment.5、Tactile SensoryNext to vision in importance is tactile sensing or touching. Imagine the blind can do delicate jobs relying on his/her sensitive tactile. A blind robot can be extremely effective in

22、 performing an assembly task using only a sense of touch. Touch is of particular importance for providing feedback necessary to grip delicate objects firmly2天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計without causing damage to them.To simulate tactile in human hands, a complete tactile-sensing system mustperform three f

23、undamental sensing operations: (1) joint force sensing which sensesthe force applied to the robot s hand, wrist and arm(2) jtouchints; sensing whichsensesthe pressure applied to various points on the handsurface or the gripper s surface; (3) slip sensing which senses any movement of the object while

24、 it is being grasped.The joint forces are usually sensed using various strain gauges arranged in robot wrist assembly. A strain gauge is a forcesensing element whose resistance change in proportion to the amount of the force applied to the element. The simplest application of touch sensor is a gripp

25、er equipped with an array of miniature microswitches. This type of sensor can only determine the presence or absence of an object at a particular point or an array of points of the robot hand. A more advanced type of touch sensors uses arrays of pressure-sensitive piezoelectric material (conductive

26、rubber or foam, etc.). The arrangement allows the sensor to perceive changes in force and pressure within the robot hand. Since the force at each point can be determined, the force on its surface can be mapped and the shapes of objects grasped in the robot hand can be determined respectively. Slip s

27、ensing is required for a robot to create the optimum amount of grasping force applied to be picked up without the danger of being dropped. The gripping force is increased step by step until the object has been firmly grasped and no more slip occurs.The integration of tactile sensing and vision sensi

28、ng can dramatically enhance robotic assembly task. An example of this type of sensors would be a vision sensor used to locate and identify objects and positing of the robot itself, combined with a tactile sensor used to detect the distribution of force and pressure, and determine torque, weight, cen

29、ter of mass and compliance of the material it handles. The hand-eye coordination for general-purpose manipulation will be extremely powerful in the industrial world.3天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計機器人1、機器人的應(yīng)用許多今天使用的機器人在做一些對工人特別困難的工作。 這些類型的工作需要很大的力量， 或者有危險。 比如，在需要將汽車零件焊接在一起的自動生產(chǎn)工業(yè)中，機器人就特別人用，工人使用的焊接工具重約 100 磅

30、，或更重，并且很難操作。作為機械巨人， 機器人可被呼喚去做任何事情， 從一工場的工作站點之間移動笨重部件到運送袋裝的水泥。由于機器人不需呼吸，所以噴涂是另一個適合機器人的任務(wù)，不像油漆工，機器人不受有毒氣體的影響。 機器人更優(yōu)于完成這種工作， 不但因為它們比人做得更快更便宜，而且因為能在人不能工作的地方進行工作。適合于機器人工作中，第三個項目是裝配電子元件。機器人能很好地將芯片裝配在七印刷電路板上， 因為它具備人所沒有具備的能力。 一旦適當(dāng)?shù)鼐幊蹋?機器人就不會將芯片放錯地方。這種自動的精度在這種類型的工業(yè)中特別有價值，因為定位和安裝錯誤代價是很高的。2、機器人革命早期的機器人又瞎又聾，但新型

31、機器人安裝有電視攝像機和其它傳感器設(shè)備，因而能感知熱、結(jié)構(gòu)、尺寸和聲音，這些機器人用于空間計劃、核反應(yīng)站和水下探測研究。在擴大機器人應(yīng)用范圍的嘗試中，研究者正超越傳統(tǒng)設(shè)計，并考察源生物世界的各種潛在的模型， 工業(yè)機械手是一典型例子。 科學(xué)家已能讓機器人模仿蛇的脊椎，以油漆汽車內(nèi)部。 在著力建造能舉起笨重物體的機器人的手臂時， 他們模仿肌肉結(jié)構(gòu)和大象鼻子的運動。 科學(xué)家還模擬章魚的靈活性， 其觸角能用于任何形狀的易碎品， 并用均勻且輕柔的壓力握住這些易碎品。 這種設(shè)計的一種變化能用于抱起動物，給醫(yī)院中病床上的病人翻身，或抱起小孩。將機器人安裝可在工廠或?qū)嶒炇彝猹毩⒉僮鞯募寄埽?這一挑戰(zhàn)已花費了學(xué)

32、術(shù)界、軍事界和工業(yè)界的科學(xué)家們的智謀和創(chuàng)造性。 簡單來說，機器人的手如同機器人的腿、眼睛或推理能力。在接近經(jīng)過成億年生物進化所獲得的能力之前，還有很長的路要走。 在機器人能和自然的杰作相比之前， 世界各地的實驗室中還需完成許多工作。同時，機器人的進展已開始轉(zhuǎn)變?nèi)怂龅墓ぷ?，令人厭煩和危險的工作已由機器人承擔(dān)。 在世紀之交， 更多的人要去完成機器人所不能完成的任務(wù)。 已有許多工業(yè)家希望到 2000 年，所有雇員都是知識工，不再站在裝配線前，而是坐在桌子和計算機終端前處理信息。這些變化已經(jīng)存在，而且其步伐每年都在加快。4天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計3、智能機器人一個機器人應(yīng)用中的

33、新局面隨著“智能機器人”的發(fā)展而已打開。一個智能機器人基本上能感知環(huán)境并且具有足夠的智力，像我們?nèi)艘粯幽軐ψ兓械沫h(huán)境做出響應(yīng)。這種能力要求直接使用感覺和人工智能。許多機器人的研究羽絨并且仍然關(guān)注如何在機器人中裝備視覺傳感器眼睛和觸覺傳感器“手指”。人工智能能將使機器人能響應(yīng)并適應(yīng)其工作任務(wù)和環(huán)境變化，并且能按照這些變化的反應(yīng)進行推理和做出決定。4、視覺傳感為使機器人模仿人的感覺能力人的感覺能力，己做了很多的努力。其中，視覺是最重要的感覺，因為據(jù)估計，接近 80的感覺信息是由視覺收到的。在機器人系統(tǒng)中設(shè)置視覺可由各種形式的圖像傳感器來完成。為了改善運行的精度，通過視覺傳感器的光學(xué)反饋控制， 可

34、精密地調(diào)整機器人手臂。 決定位置、 方向和辨別所要選取的零件則是另一重要的應(yīng)用。在視覺系統(tǒng)中，關(guān)鍵部件之一是圖像器。機器人系統(tǒng)中圖像傳感器的定義為將常常圖像轉(zhuǎn)換成視頻信號的電 - 光學(xué)器件。圖像傳感器通常為電視攝像機，或固態(tài)傳感器件，如電荷耦合器件（ CCD）。后一種器件提供更高的靈敏度、較長的耐久性和較輕的重量， 因而與電視攝像機相比更受歡迎。 攝像系統(tǒng)不但包括攝像探測器，而且更重要的是包括光學(xué)透鏡系統(tǒng)。 這種透鏡決定視場、 定焦深度和其它直接影響攝像機所攝取圖像質(zhì)量的光學(xué)特性。無論電視攝像機還是 CCD都會通過在每一像素點形成與光強成正比的模擬量而產(chǎn)生圖像。要使數(shù)字計算機對這信號起作用，需

35、要模擬數(shù)字（ A D）轉(zhuǎn)換器將模擬數(shù)據(jù)轉(zhuǎn)換成數(shù)字信息，如邊界、區(qū)域、顏色，以及圖像中物體結(jié)構(gòu)。最后，計算機能就場景的辨別、 理解圖像所表示的含義或做出解釋， 使機器人用符號對環(huán)境描述。5、接觸感覺重要性僅次于視覺是接觸感覺，或觸感。想象一下盲人能依靠靈敏的觸覺來做精細的工作。 無視學(xué)機器人能只用觸覺極有效地完成裝配任務(wù)，對于需要反饋來緊緊握住精致脆弱的物體而不會損壞它們的用途，觸覺具有獨特的重重性。為了模擬人手的觸覺， 一個完整的接觸傳感系統(tǒng)必須完成三個基本操作： （1）關(guān)節(jié)的力覺，檢測加在機器人的手、腕和臂關(guān)節(jié)上的力； （2）觸覺檢測，加在手平面或者夾持器平面各個點上的壓力； （3）滑覺，檢

36、測所抓取的物體的任何滑動。關(guān)節(jié)上的力通常用各種布置在機器人夾手零件上的應(yīng)變測力計來檢測。 應(yīng)變測力計是一種測力元件， 其電阻變化與加在元件上的力大小成比例。 最簡易的觸覺傳感器是用細小的微型開關(guān)陣列組成的夾持器。 這種傳感器只能決定物體是否5天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計在機器人手上的點陣中某個特殊點上存在。更為先進的觸覺傳感器使用壓敏的壓電材料（如導(dǎo)電橡膠或泡沫等） 。其排列使傳感器能感覺機器人手中的力和壓力的變化。既然各點的力可以決定， 所以手掌面上的力就可以被圖像化地獲得，并由此決定機器人手中所握的各物體形狀。對于產(chǎn)生一個用精致脆弱物體的最佳握持力，機器人需要滑覺。 于這

37、種能力避免損壞物體，并能抓起物體面不會有掉下的危險。夾持力一步一步增加，直至物體被緊緊地失信抓住而不再滑動。觸覺和視覺的集成能極大的提高機器人裝配工作， 這類傳感器的一例是視覺傳感器，用于對物體和機器人本身的定位和辨別； 并結(jié)合觸覺傳感器用于探測力和壓力的分布和確定力矩、重量、質(zhì)量、重心，按所抓取的材料決定握持力。這種用于通用的手眼配合操作在工業(yè)界將會變得極為有效力。6天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計Installation and Maintenance of PLCToday s programmablecontroller, properly installed, will

38、 provide a maximum of productivity with a minimum of maintenance. This section will cover the strength forward but critical areas of installation and maintenance of the programmable controller. It is intended to serve only as an overview on the subject, with the best guide for use being the document

39、ation provided by the programmable controller manufacturer. This section will include rack installation for the CPU and I/O racks involved, line power, grounding, and signal cable consideration. Troubleshooting techniques as well as repair situation will be examined, and finally, training options wi

40、ll be presented.1. Rack InstallationDepending on the size of the programmable controller being considered, the installation of the racks or chassis can be a simple or very complex task. Since most controllers are of open or particular application area. Many times this is a NEMA 12 type enclosure. It

41、 provides an environment in which the controller can operate without exposure to the grime outside the enclosure. Most racks can be mounted in either a panel type mounting arrangement, or a 19 in rack mounting. This is not true of controllers of the very small variety, as they are normally a panel m

42、ount only design. Rack mounting is generally used where the equipment is otherwise controlled. This type of installation is common where many instruments are mounted and used along with the programmable controller equipment. In either case, wire conductors must be routed in the rack; this is done wi

43、th commercially available conduit that provides a means to bring in and out as many as 100 to 200 individual conductors from input and output points to real-world sensors and actuators. It is important that this phase of the design and installation be handled with care as it will dramatically affect

44、 the ability to maintain the systems. In addition to allowing any required system maintenance, this early care will make any system additions or modifications much easier.2. Line Power and GroundingProper power to the programmable controller is critical. Today s systems areavailable in a wide variet

45、y of electrical configurations. Virtually all are designed for use in single-phase power systems, and most are now beginning to be offered with the optional ability to operate in a DC supply environment. AC designs are offered in either single voltage supplies, such as 115 or 230V AC; while some can

46、 be7天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計configured as either through a selection made on the power supply. Proper grounding of the power supply connection is required for a safe installation. Some programmable controller designs have individual grounding connections from rack to face- plates and other system com

47、ponents, so care must be taken to follow well electrical practice in system grounding during electrical installation. In certain applications, a 24 or 120 V DC power supply is required. This is common for installations that axe made where no AC power is available, such as remote electrical generatio

48、n stations. It is also found where AC power is unreliable and where loss of control is considered an unacceptable situation3. Signal Cable ConnectionsThe chain must be completed and have high integrity to provide the communication path for control signals to pass over. Depending on the specific desi

49、gn of the programmable control system, loss of communication to the I/O system will cause a critical failure, stopping the CPU scan .In other systems, configurations can be accomplished that allow the unaffected portions of the programmable controller system to continue to operate.As we saw earlier,

50、 communication between chassis can either be parallel or serial. Parallel communication uses multiple conductors to pass all bits of a byte or word of data simultaneously. Serial communication provides a method for single bits of a byte or word of data simultaneously. Serial communication provides a

51、 method for signal bit of a byte or word to be transmitted sequentially. The difference this has on cable design and selection is significant. Parallel cables are made of as many as 16 or more pairs of twisted individual conductors, protected by a shielded external jacket. Multiple pin connectors ar

52、e connected to one or both ends of the cable. The D type is popular, providing 25 or 39 pins in a standard configuration. Earlier design used a round type positive contact threaded design and certain manufactures still use this type of connector, although most have found the D type satisfactory. Thi

53、s cable is normally made available by the programmable controller manufacturer, and while it may seem expensive, the assurance of having a well-designed and thoroughly tested cable is worth almost any price compared to tracking down an intermittent problem later during a critical production period.

54、The programmable controller manufacturer will provide parallel cables designed to operate with its equipment in various lengths, from 2 ft (feet) up to as much as 500 ft. Serial cables on the other hand are generally easier to use and less expensive to purchase or build. Manufacturers may or may not

55、8天津職業(yè)技術(shù)師范大學(xué)2012 屆本科生畢業(yè)設(shè)計provide these as an item to purchase, and may just refer the purchaser to a third party source. Serial signal cable is normally a single or dual twisted pair of conductors, and is often just connected directly to the I/O driver or receiver with screw terminals. The only major

56、 reason to use parallel over serial is the great communication speed available with parallel, which can be a factor of 10 to 1, or more.4. Troubleshooting and RepairEven the best of today wells -designed and manufactured programmable controllers require occasional preventative maintenance and repair

57、. This section looks at some of the tools provided by the manufacturer and techniques for general maintenance.Most of the medium- and large-sized programmable controller systems available today are designed to be maintained by individuals with a wide variety of skills, without the benefit of in-dept

58、h formal training of this piece of equipment. This is accomplished in the design by providing individual modules of functionality installed in a chassis serviced from the front (all module types including power supplies). Front access is critical to proper maintenance. This allows easy inspection an

59、d replacement of the suspected bad module. Module health is determined by inspecting the LED indicators normally provided on the front of each module. Typical indicators will be on or off depending on the design and individual condition of the module in question. Various CPU and I/O modules will hav

60、e indicators showing I/O control communications status, memory integrity, power supply tolerance check, scan integrity, and others. On future controller designs, and even today on a few systems, it is likely that English language messages will be displayed on the controller advising the user or main