工業(yè)機(jī)器人專(zhuān)業(yè)英語(yǔ) 課件Unit 1-4 Introduction to robots- Coordinate system of industrial robot

ProfessionalEnglishofIndustrialRobots工業(yè)機(jī)器人專(zhuān)業(yè)英語(yǔ)Unit1IntroductiontorobotsLesson’sactivity1.WhatwillIlearninthischapter？

Todemonstratethatyou:1)Understandthedefinitionofrobot.2)Understandthetermsrelatedtoindustrialrobots.3)Understandtheapplicationofindustrialrobots.

FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

Withintheallocatedguidedlearninghours,youmustsuccessfullycompletePracticalassessmentinwhichyouwilldemonstratethatyoucan:Fromeasytodifficult,stepbysteponthebasicconceptsofrobots.Thefirstpartisthewordsofrobot.ThesecondpartistheapplicationofbasicEnglishsentencepatternsinthemajor,last.Lastly，theapplicationofindustrialrobotsisintroducedintheformofparagraphs.Completetheafter-classtasksofindustrialrobots.

FORLISTENINGLesson’sactivitymanipulator[m??n?pjule?t?(r)]

n.機(jī)械手，機(jī)器人操作器，操縱器serialport串行端口manualrelease人工解鎖,人工脫開(kāi),手動(dòng)釋放maintenance[?me?nt?n?ns]

n.維護(hù)，保養(yǎng)；保持，維持；cylinder[?s?l?nd?(r)]n.圓筒；汽缸；integrate

[??nt?ɡre?t]

vt.（使）合并，成為一體artificialintelligence人工智能electromechanical

[??lektr??m??k?n?k?l]

adj.電動(dòng)機(jī)械的，[機(jī)]機(jī)電的

FORLISTENING1.1CorrespondingwordsandphrasesofrobotsLesson’sactivityautomation[???t??me??(?)n]n.自動(dòng)化mechanism[?mek?n?z?m]n.（機(jī)械）結(jié)構(gòu)，機(jī)械裝置gear

[ɡ??(r)]n.排擋，齒輪；v.換擋，搭配bearing

[?be?r??]n.軸承，支軸axis

[??ks?s]

n.軸，軸線；對(duì)稱(chēng)中心線，對(duì)稱(chēng)軸principal[?pr?ns?pl]adj.最重要的，首要的

FORLISTENING1.1CorrespondingwordsandphrasesofrobotsFocusReading1.Robotisanautomaticequipmentintegratingadvancedtechnologyofmanydisciplinessuchasmachinery,electronics,control,sensingandartificialintelligence.FORLISTENING1.2Part2Correspondingsentenceofrobots2.Sincetheindustrialrevolution,humanlaborhasbeengraduallyreplacedbymachinery,andthischangehascreatedgreatwealthforhumansocietyandgreatlypromotedtheprogressofhumansociety.

。

。FocusReading3.Fig.1-1showsinwhichdirectionsthevariousaxesofthemanipulatorcanmoveandwhatthesearecalled.

TheIRB2400manipulatorhas6axes.

FORLISTENING

。1.2Part2CorrespondingsentenceofrobotsFocusReading4.Robotisanautomaticequipmentintegratingadvancedtechnologyofmanydisciplinessuchasmachinery,electronics,control,sensingandartificialintelligence.FORLISTENING1.2Part2Correspondingsentenceofrobots5.Industrialrobotswillbewidelyusedinpeople'sproductionandlifeinthefuture.

。

。FocusReading6.Inthelasttwentyyears,ourconceptionanduseofrobotshasevolvedfromthestuffofsciencefictionfilmstotherealityofcomputer-controlledelectromechanicaldevicesintegratedintoawidevarietyofindustrialenvironments.FORLISTENING1.2Part2Correspondingsentenceofrobots

。FocusReading7.Theemergenceofindustrialrobotswillfreehumanbeingsfromtheheavyandsinglework,anditcanalsoengageinsomelaborunsuitableforhumanbeingsorevenbeyondhumanbeings,soastorealizetheautomationofproduction,avoidindustrialaccidentsandimproveproductionefficiency.FORLISTENING1.2Part2Correspondingsentenceofrobots

。FocusReading8.Itisroutinetoseerobotmanipulatorsbeingusedforweldingandpaintingcarbodiesonassemblylines,stuffingprintedcircuitboardswithICcomponents,inspectingandrepairingstructuresinnuclear,undersea,andundergroundenvironments,andevenpickingorangesandharvestinggrapesinagriculture.FORLISTENING1.2Part2Correspondingsentenceofrobots

。FocusReading9.Althoughfewofthesemanipulatorsareanthropomorphic,ourfascinationwithhumanoidmachineshasnotdulled,andpeoplestillenvisionrobotsasevolvingintoelectromechanicalreplicasofourselves.FORLISTENING1.2Part2Correspondingsentenceofrobots

。FocusReading10.Whilewearenotlikelytoseethistypeofrobotinthenearfuture,itisfairtosaythatwehavemadeagreatdealofprogressinintroducingsimplerobotswithcrudeend-effectorsintoawidevarietyofcircumstances.FORLISTENING1.2Part2Correspondingsentenceofrobots

。FocusReading11.Further,itisimportanttorecognizethatourimpatiencewiththepaceofroboticsresearchandourexpectationsofwhatrobotscanandcannotdoisinlargepartduetoourlackofappreciationoftheincrediblepowerandsubtletyofourownbiologicalmotorcontrolsystems.FORLISTENING1.2Part2Correspondingsentenceofrobots

。FocusReading1.Thebestknownexampleofarobotinspaceisthe20meterlongremotemanipulatorsystemonboardthespaceshuttle.Ithassixdegreesoffreedomandisusuallymanuallyteleoperatedbyanastronautunderdirectvisualfeedback.Thereis,however,theabilitytohavetherobotbemovedundercomputercontrolinCartesiancoordinates.

FORLISTENING

。1.3Part3IntroductiontotheapplicationofrobotsFocusReading2.UnderwaterInthelastdecade,severalremotely-operatedvehicleshavebeenbuiltforinspectionofunderwateroilderricksandexploration.Theirdevelopmenthasbeenmotivatedbythehighcostofhumandiversandtherisktolifeofworkingunderwater.

FORLISTENING1.3Part3Introductiontotheapplicationofrobots

。FocusReading3.Forthemostparttheyconsistofamobileplatform,eitheronanumbilicallinefromthemothershiporcompletelyautonomous,fittedwithoneormoreroboticarms.Inthefuture,therewillbeasurgeinthenumberofcompletelyautonomousrobotsforexplorationoftheoceanfloorandotherunstructuredenvironmentsforwhichthehumanreactiontimeistoolarge.

FORLISTENING1.3Part3Introductiontotheapplicationofrobots

。FocusReading

4.Firefighting,constructionandagricultureOnecanvisualizeascenarioinwhichmapsofbuildingswouldbedownloadedontorobotsatthesceneofafire.Theserobotscanthenbeusedforfirefightingusingonboardheatandsmokedetectorsandtrailinganumbilicalcordcarryingwateraswellasfire-retardantchemicalsandrelayingvideodatatoremotelocations.Inthisapplication,itseemsimportanttohaverobotsthatcannegotiatestairwaysaswellascorridors(i.e.,leggedaswellaswheeledrobots)..

FORLISTENING

。HomeworkUnit1：EXERCISE

ThanksProfessionalEnglishofIndustrialRobotsProfessionalEnglishofIndustrialRobots工業(yè)機(jī)器人專(zhuān)業(yè)英語(yǔ)Unit2RobotkinematicsandcharacteristicsLesson’sactivity1.WhatwillIlearninthischapter？

Todemonstratethatyou:1)Understandthebasicconceptsofrobotkinematics.2)Understandthedegreeoffreedomofrobot.3)Understandthestructuralcharacteristicsofindustrialrobots.

FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

Withintheallocatedguidedlearninghours,youmustsuccessfullycompletePracticalAssessmentinwhichyouwilldemonstratethatyoucan:Thefirstpartisthewordsofrobotkinematics.ThenthesecondpartistheapplicationofbasicEnglishsentencerelatedtorobotkinematicsinthemajor,lastly,thethirdpartistheintroductiontokinematicsprincipleofindustrialrobots.Completetherobotkinematicstasksafterclass.

FORLISTENINGLesson’sactivityABB(AseaBrownBoveriLtd.)艾波比集團(tuán)公司，瑞士YaskawaElectricCoLtd.安川，日本KawasakiHeavyIndustriesLtd.川崎重工業(yè)有限公司，日本workpiece

[?w??kpi?s]n.工件；軋件；工件壁厚payload

[?pe?l??d]n.（導(dǎo)彈、火箭等的）有效載荷，有效負(fù)荷overload

[???v??l??d]v.過(guò)載，超載axis

[??ks?s]n.軸，軸線；對(duì)稱(chēng)中心線，對(duì)稱(chēng)軸motion

[?m???n]n.運(yùn)動(dòng)，移動(dòng)；v.做動(dòng)作motion

[?m???n]n.運(yùn)動(dòng)，移動(dòng)；v.做動(dòng)作wrist

[r?st]n.手腕，腕關(guān)節(jié)

FORLISTENING2.1CorrespondingwordsrelatedtothekinematicsofrobotsLesson’sactivitybend[bend]v.使彎曲；使屈服transmission[tr?nz?m??(?)n]n.傳動(dòng)裝置component

[k?m?p??n?nt]n.部件，組成部分regulation[?reɡju?le??n]n.規(guī)章制度，規(guī)則invert

[?n?v??t]

v.使倒置，使反轉(zhuǎn)coordinate[k?????d?ne?t]

v.協(xié)調(diào)，配合maximum[?m?ks?m?m]n.最大量，最大限度；adj.最高的，最大的

FORLISTENING2.1CorrespondingwordsrelatedtothekinematicsofrobotsFocusReading1.Withthedevelopmentofproductiveforces,itwillcertainlypromotethedevelopmentofcorrespondingscienceandtechnology.

FORLISTENING2.2Sentencesrelatedtorobotkinematics2.Thisisespeciallycriticalwhencreatingaprogrambymovingtothetargetlocation.

。

。FocusReading3.Atool,typicallyagripperofsomesort,isattachedtotheendoftherobottointeractwiththeenvironment.FORLISTENING2.2Sentencesrelatedtorobotkinematics

。

4.Iftherighttool,workpiece,orpayloadisnotselected,overloaderrorsand/orpositioningerrorsarelikelytooccurwhentheprogramismicromanagedorrunduringproduction.

。FocusReading5.Thekinematicsofarobotmanipulatordescribestherelationshipbetweenthemotionofthejointsofthemanipulatorandtheresultingmotionoftherigidbodieswhichformtherobot.FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading6.Therevolute,prismatic,andhelicaljointseachcorrespondtoscrewmotions,withthehelicaljointcorrespondingtoageneralscrewwithfinite,nonzeropitch.FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading

7.Acylindricaljointhastwoindependentdegreesoffreedomandistypicallyconstructedbycombiningarevoluteandaprismaticjointsuchthattheiraxesarecoincident.

FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading8.Revoluteandprismaticjointsarebyfarthemostcommontypeofjointencounteredinrobotics，asisshowninFig.2-1.

Fig.2-1NumberingconventionsforanAdeptOnerobot.FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading9.Sphericalmechanismsareoftenusedaswristsinrobotmanipulatorstoallowarbitraryorientationofthegripperortoolattheendoftherobot.

FORLISTENING

。2.2SentencesrelatedtorobotkinematicsFocusReading10.Planarjointsallowforarbitrarytranslationandrotationintheplane.

FORLISTENING

。11.Alongwithhelicaljoints,theyaretheleastcommonlyusedofthelowerpairmechanisms.

。2.2SentencesrelatedtorobotkinematicsFocusReadingWhatisthekinematicsprincipleofindustrialrobots？

1.Kinematicsofindustrialrobots,asanimportantresearchfieldofrobotics,hasaprofoundimpactonrobotcontrol,robotdynamicsandtrajectoryplanning,andisdirectlyrelatedtorobotcontrol,trajectoryplanningandoff-lineprogrammingaccuracy,whichisthebasisofresearchonrobotdynamics,trajectoryplanningandmotionsimulation.

FORLISTENING3.2Part3Kinematicsprincipleofindustrialrobots

。FocusReading2.Thecommonlyusedrobotkinematicsmethodsaremainlyanalyticalandnumericalmethods,includingvectoralgebra,geometry,matrix.Forexample,thematrixmethodrequirestheestablishmentofthecorrespondingcoordinatesystemoneachjoint,andtheforwardkinematicsmodelisestablishedbymeansofcoordinatetransformation.Intheinversekinematics,theinversetransformationalgorithmisusuallyadopted,andthesolutionprocessiscomplex.

FORLISTENING

。3.2Part3Kinematicsprincipleofindustrialrobots

FocusReading3.Theforwardkinematicsofarobotdeterminestheconfigurationoftheend-effector(thegripperortoolmountedontheendoftherobot)giventherelativeconfigurationsofeachpairofadjacentlinksoftherobot.Inthissection,werestrictourselvestoopen-chainmanipulatorsinwhichthelinksformasingleserialchainandeachpairoflinksisconnectedeitherbyarevolutejointoraprismatic(sliding)joint.

FORLISTENING

。3.2Part3Kinematicsprincipleofindustrialrobots

FocusReading4.UnderwaterInthelastdecade,severalremotely-operatedvehicleshavebeenbuiltforinspectionofunderwateroilderricksandexploration.Theirdevelopmenthasbeenmotivatedbythehighcostofhumandiversandtherisktolifeofworkingunderwater.Forthemostparttheyconsistofamobileplatform,eitheronanumbilicallinefromthemothershiporcompletelyautonomous,fittedwithoneormoreroboticarms.FORLISTENING3.2Part3Kinematicsprincipleofindustrialrobots

。FocusReading

5.Firefighting,constructionandagricultureOnecanvisualizeascenarioinwhichmapsofbuildingswouldbedownloadedontorobotsatthesceneofafire.Theserobotscanthenbeusedforfirefightingusingonboardheatandsmokedetectorsandtrailinganumbilicalcordcarryingwateraswellasfire-retardantchemicalsandrelayingvideodatatoremotelocations.

FORLISTENING

。3.2Part3Kinematicsprincipleofindustrialrobots

HomeworkUnit2：EXERCISE

ThanksProfessionalEnglishofIndustrialRobotsProfessionalEnglishofIndustrialRobots工業(yè)機(jī)器人專(zhuān)業(yè)英語(yǔ)Unit3RobotdynamicsandcontrolLesson’sactivity1.WhatwillIlearninthischapter？

Todemonstratethatyou:1)Understandthebasicconceptsofrobotkinematics.2)Understandthedegreeoffreedomofrobot.3)Understandthestructuralcharacteristicsofindustrialrobots.

FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

Withintheallocatedguidedlearninghours,youmustsuccessfullycompletePracticalAssessmentinwhichyouwilldemonstratethatyoucan:Thefirstpartisthewordsofrobotkinematics.ThenthesecondpartistheapplicationofbasicEnglishsentencerelatedtorobotkinematicsinthemajor,lastly,thethirdpartistheintroductiontokinematicsprincipleofindustrialrobots.Completetherobotkinematicstasksafterclass.

FORLISTENINGLesson’sactivityABB(AseaBrownBoveriLtd.)艾波比集團(tuán)公司，瑞士YaskawaElectricCoLtd.安川，日本KawasakiHeavyIndustriesLtd.川崎重工業(yè)有限公司，日本workpiece

[?w??kpi?s]n.工件；軋件；工件壁厚payload

[?pe?l??d]n.（導(dǎo)彈、火箭等的）有效載荷，有效負(fù)荷overload

[???v??l??d]v.過(guò)載，超載axis

[??ks?s]n.軸，軸線；對(duì)稱(chēng)中心線，對(duì)稱(chēng)軸motion

[?m???n]n.運(yùn)動(dòng)，移動(dòng)；v.做動(dòng)作motion

[?m???n]n.運(yùn)動(dòng)，移動(dòng)；v.做動(dòng)作wrist

[r?st]n.手腕，腕關(guān)節(jié)

FORLISTENING3.1CorrespondingwordsinthecontrolsystemLesson’sactivitybend[bend]v.使彎曲；使屈服transmission[tr?nz?m??(?)n]n.傳動(dòng)裝置component

[k?m?p??n?nt]n.部件，組成部分regulation[?reɡju?le??n]n.規(guī)章制度，規(guī)則invert

[?n?v??t]

v.使倒置，使反轉(zhuǎn)coordinate[k?????d?ne?t]

v.協(xié)調(diào)，配合maximum[?m?ks?m?m]n.最大量，最大限度；adj.最高的，最大的

FORLISTENING3.1CorrespondingwordsinthecontrolsystemFocusReading1.TojogistomanuallypositionormoverobotsorexternalaxesusingtheFlexPendantjoystick.

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.2.JoggingispossibleregardlessofwhatviewisdisplayedontheFlexPendant,howeveryoucannotjogduringprogramexecution.

。

。FocusReading3.Theselectedmotionmodeand/orcoordinatesystemdeterminesthewaytherobotmoves.FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。4.Additionalaxescanonlybejoggedaxis-by-axis.

。FocusReading5.Anadditionalaxiscaneitherbedesignedforsomekindoflinearmotionorforrotational(angular)motion.

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

6.Linearmotionisusedinconveyers,rotationalmotioninmanykindsofworkpiecehandlers.

。

。FocusReading7.Additionalaxesarenotaffectedbytheselectedcoordinatesystem.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。8.Wewilluselinearmotionforthepurposesofthisexercise.。

`

。FocusReading9.Youcanmove(jog)therobotusingthejoystickontheteachpendantunit.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。10.Makesurethattheoperatingmodeselectorisinthemanualmodeposition.。

`

。FocusReading11.Toselectthepropercoordinatesystemstojoginwillmakejoggingeasierbuttherearenosimpleorsingleanswerstowhichcoordinatesystemtochoose.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。FocusReading12.Ifthemechanicalunitmovingtheworkobjectisjogged,anyrobotthatiscurrentlycoordinatedwiththeworkobjectwillmovesothatitmaintainsitsrelativepositiontotheworkobject.。

FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。FocusReading13.Youcancommunicatewiththerobotusingateachpendantunitand/ortheoperator’spanel,locatedonthecontroller(Fig.3-1).。

Fig.3-1Theteachpendantunitandtheoperator’spanel.FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。FocusReading14.AsisshowninFig.3-2，therobotismadeupoftwoprincipalparts，andFig.3-3illustratestheprincipalpartsofthecontroller.。

Fig.3-2Thecontrollerandmanipulatorareconnectedbytwocables.FORLISTENING3.2Part2Simpleandcomplicatedsentencesintheprocessofusingtherobotcontrolsystem.

。Fig.3-3Robotcontroller.FocusReading1.Thischapterpresentsanintroductiontothedynamicsandcontrolofrobotmanipulators.Wederivetheequationsofmotionforageneralopen-chainmanipulatorand,usingthestructurepresentinthedynamics,constructcontrollawsforasymptotictrackingofadesiredtrajectory.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading2.IntroductionThekinematicmodelsofrobotsthatwesawinthelastchapterdescribehowthemotionofthejointsofarobotisrelatedtothemotionoftherigidbodiesthatmakeuptherobot.Weimplicitlyassumedthatwecouldcommandarbitraryjointleveltrajectoriesandthatthesetrajectorieswouldbefaithfullyexecutedbythereal-worldrobot.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading3.Mostrobotmanipulatorsaredrivenbyelectric,hydraulic,orpneumaticactuators,whichapplytorques(orforces,inthecaseoflinearactuators)atthejointsoftherobot.Thedynamicsofarobotmanipulatordescribeshowtherobotmovesinresponsetotheseactuatorforces.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.

。FocusReading4.Wewilldescribethedynamicsofarobotmanipulatorusingasetofnonlinear,second-order,ordinarydifferentialequationswhichdependonthekinematicandinertialpropertiesoftherobot.Althoughinprincipletheseequationscanbederivedbysummingalloftheforcesactingonthecoupledrigidbodieswhichformtherobot,weshallrelyinsteadonaLagrangianderivationofthedynamics.

FORLISTENING3.3Part3Compositionofrobotcontrolsystemandhowtodescribethejoggingofthegiveninstance.