資料全套-零轉(zhuǎn)角輪式機(jī)器人底座機(jī)電傳動結(jié)構(gòu)設(shè)計【4張CAD圖紙】

喜歡這套資料就充值下載吧。資源目錄里展示的都可在線預(yù)覽哦。下載后都有，請放心下載，文件全都包含在內(nèi)，【有疑問咨詢QQ:1064457796 或 414951605】=喜歡這套資料就充值下載吧。資源目錄里展示的都可在線預(yù)覽哦。下載后都有，請放心下載，文件全都包含在內(nèi)，【有疑問咨詢QQ:1064457796 或 414951605】= The robot 1.The role of robots ”The role of robots Is a high-level integration of control theory, robotics, machinery and electronics, computers, materials and bionic product. In industry, medicine, agriculture, construction and even the military have important applications in such areas. Now, the international concept of robots has been gradually approaching the same. In general, people can accept the claim that the robot is controlled by its own power and ability to achieve the various functions of a machine. The United Nations Organization for Standardization adopted by the American Federation of Robotics to the robot under the definition: a programmable and versatile, used to move materials, parts, tools, operating machines; or to perform different tasks have to change and Programmable action specialized systems. 2.Evaluation criteria Capacity of evaluation criteria Robot capability evaluation criteria include: intelligence, refers to feelings and perceptions, including memory, calculation, comparison, identification, judging, decision-making, learning and logical reasoning, etc.; function, refers to flexibility, versatility or space occupied, etc.; physics can be means the power, speed, continuous operation capability, reliability, combined with nature, life and so on. Therefore, it can be said robot is a biological function of three-dimensional coordinates of the machine. 3.Composition of the robot The composition of the robot Robots in general by the executing agency, drives, detection devices and control system, etc. Implementing agency, the robot body, the buttocks generally use the space for open-chain linkages, the movement of which the Deputy (rotate or move the Deputy Vice-) often referred to as joints, and joints shall be the number of robots are usually a few degrees of freedom. According to joint configuration types and the different forms of movement coordinates, the robot implementing agencies can be divided into rectangular type, cylindrical coordinate type, polar coordinate type and other types of joint coordinate type. For anthropomorphic considerations, often the relevant parts of the robot body are known as the base, waist, arm, wrist, hand (gripper or end effector) and the Ministry of walking (for mobile robot), etc. . Drive device is driven by movement of the body implementing agencies, in accordance with the directives issued by the signal control system, by means of dynamic components, the robot action is needed. It is the input signal, the output is the line, the amount of angular displacement. Drive robot is mainly used in electric drives, such as stepper motors, servo motors, etc. In addition, there is also hydraulic, pneumatic, etc. drives. Detecting device is the role of real-time detection robots movement and work of the required feedback to the control system, compared with the configuration information, the right to adjust the implementing agencies to ensure the robots movements to meet the intended requirements. As a sensor detecting device can be divided into two categories: one is internal information sensors for detecting the internal situation in various parts of robots, such as the joint position, velocity, acceleration, etc., and the measured information as a feedback the signal sent to the controller, to form a closed-loop control. The other is external information sensors, used to obtain information about the operation of robots and other objects and external environment of information, so that the robot moves to adapt to changing circumstances, so that to achieve a higher level of automation, even the machine person has a certain feel to the intelligent development, such as visual, sound and other external sensors sense given object of work, information about the working environment, the use of such information constitutes a major feedback loop, which will greatly enhance the work of the robot accuracy. Control system in two ways. One is the centralized control, that is, the robots control by a microcomputer to complete. The other is decentralized (level)-type control, which uses multiple computers to share the control of robots, such as when using the upper and lower two computers together to complete the robot control, the host often used for system management, communication, kinematics and dynamics calculations, to send commands to the lower-level computer information; as a junior from the machine, the joints corresponding to a CPU, for interpolation and servo control processing operations to achieve a given movement, to the host feedback. According to the different operational mission requirements, the robot control mode can be divided into point to point control, continuous path control and force (torque) control. 4.History of Robots Robot History 1920 Czechoslovakia writer Karel Capek in his sci-fi novel Rossums Universal Robots company, according to Robota (Czech, intended to labor, slave labor) and Robotnik (Polish, the original intent as workers), to create a robot is the word. World Expo 1939 in New York on display at the Westinghouse Electric Company manufactured home robot Elektro. It is controlled by a cable, you can walk, say 77 words, or even smoke, but still far from the real chores. But it give people a vision of domestic robots to become more specific. Asimov sci-fi masters 1942, the United States put forward the Three Laws of Robotics. Although this is only the creation of science fiction, but later became the principle of academic research and development by default. In 1948 Norbert Weiner published in control theory to explain the machine in the communication and control function and the nervous, sensory function of the common law, first proposed as the core of computer-automated factory. 1954, American George Dwyer created the worlds first programmable robot and registered patents. This mechanical hand in accordance with different programs in different jobs, so has the versatility and flexibility. 1956 Dartmouth meeting Marvin Minsky has made his views on intelligent machines: Smart Machine to create an abstract model of the surrounding environment, if you encounter problems, from abstract model to find a solution . This definition affects the subsequent 30 years of intelligent robot research direction. Dwyer and the United States in 1959, inventor Joseph Ingeborg joined hands to create the first industrial robot. Subsequently, the establishment of the worlds first a robot manufacturing plant - Unimation company. As Ingeborg R German CL-289; Frances Red Falcon (Crecerelles), Hunter, and the United Kingdoms Phoenix (Phoenix) and other unmanned aerial vehicles. UAV in the Kosovo war, some of the major completed the following tasks: low-altitude reconnaissance and battlefield surveillance, electronic interference, victories assessment, targeting, weather data collection, distribution of leaflets, and rescue pilot, and so on. The Kosovo war has not only greatly increased the UAVs position in the war, but also aroused the attention of Governments on the UAV. U.S. Senate Armed Services Committee requested that the military should be prepared to 10 years, a sufficient number of unmanned systems to low-altitude attack aircraft in one-third of UAVs; 15 years, one-third of ground combat vehicles unmanned systems should be in . This is not to use unmanned aircraft to replace the pilot and it was, but some people use them to add the capacity of the aircraft in order to high-risk tasks to minimize use of the pilot. UAVs development will accelerate the theory of modern warfare and unmanned warfare systems development. 6.2 Special features robot special feature of the robot Machine Police The so-called military robots on the ground is used on the ground robot system, they are not only in times of peace can help police rule out bomb to complete the task should be to the security in wartime can be replaced by soldiers of mine, reconnaissance and attack a variety of tasks such as Today, the United States, Britain, Germany, France, Japan and other countries have developed various types of ground military robots. Britains trolley robot In Western countries, terrorism has always been one to make the headache problem. The United Kingdom due to ethnic conflicts, suffering from the threat of explosives, so as early as 60 years on the successful development of EOD robot. British developed crawler-style trolleys and super cart EOD robot, has more than 50 countries and police agencies has sold more than 800 units. Recently, Britain has in turn trolley robot to be optimized, prairie dogs and bison have developed two kinds of remote control electric EOD robot, the British Royal Engineers in Bosnia-Herzegovina and Kosovo are using them to detect and deal with explosives. Prairie dogs weigh 35 kilograms, the mast is equipped with two cameras. Bison weighed about 210 kilograms and can carry 100 kg of load. Both use radio control system, remote control distance of about 1 km. Prairie Dog and Maverick and EOD robot In addition to a bomb planted by terrorists outside the war-torn countries in many of the world, and everywhere a variety of scattered unexploded munitions. For example, in Kuwait after the Gulf War as an ammunition depot could explode at any time. In the Iraq-Kuwait border over 10,000 square kilometer area, there are 16 countries manufacture of 25 million mines, 85 million rounds of ammunition, and the multinational forces dropped bombs and cluster bombs mines of 25 million bullets, of which at least 20% No explosion. And now, even in many countries there is residual in the First World War and World War II unexploded bombs and landmines. Therefore, explosive ordnance disposal robot is a great demand. Wheeled robot with the Removal of Explosive Devices and tracked, and they are generally small size, steering a flexible, easy to work in a small space, the operator can be a few hundred meters to several kilometers away through radio or optical control of their activities. Robot cars general color CCD camera is equipped with multiple pairs of explosives used for observation; more than one degree of freedom manipulator, with its gripper or clamp may be explosives, fuses or detonators screwed down, and to transport explosives walking; car was also equipped with shotguns, using a laser pointer aimed at, it can be to the timing device and detonating explosive devices to destroy; some robot is equipped with high-pressure water gun, you can cut explosives. Germanys EOD robot In France, the Air Force, Army and Police Department have purchased Cybernetics developed TRS200 medium-sized companies EOD robot. DMs robots have been developed RM35 Paris Airport Authority selected. German peacekeepers in Bosnia and Herzegovina equipped Telerob team returned the companys MV4 series of robots. Developed by the Shenyang Institute of Automation of Chinas PXJ-2 robot has joined the ranks of security forces. U.S. Remotecs Andros series of robots were welcomed by national uniformed services, the White House and congressional buildings, police stations have to buy this robot. Before the presidential election in South Africa, the police bought a four AndrosVIA robots, they are in the electoral process carried out in a total of 100 multiple tasks. Andros robot can be used for small-scale random explosive ordnance disposal, it is the U.S. Air Force aircraft and passenger cars for use only robots. After the Gulf War, the U.S. Navy has used such a robot in Saudi Arabia and Kuwait Air Force Base in clearing mines and unexploded ordnance. U.S. Air Force also sent five sets Andros robot to Kosovo, for the clean-up of explosives and sub-shells. Each active duty Air Force explosives disposal team and air rescue centers are equipped with a Andros VI. EOD robot developed in China EOD robot can not only rule out the bombs, reconnaissance sensors can also use it to monitor the activities of criminals. Surveillance personnel in the far right criminals day and night to observe, listen to their conversation, do not expose themselves very well could be right. In early 1993, in the United States occurred in Waco estate lesson plans, in order to get the activities of the Puritans who, the FBI used two kinds of robots. One is Remotecs AndrosVA type and Andros MarkVIA-type robot, the other is developed by RST company STV robots. STV is a six remote control cars, using radio and cable communications. On board can be raised to a 45-meter bracket, the above three-dimensional with color camera, day-optic sight, night vision sights, binaural audio detectors, chemical detectors, satellite positioning systems, target tracking using The forward-looking infrared sensors. The car takes only one operator, remote control distance of 10 kilometers. During the operation, sent out three sets STV, the operator remote control robot moving to a place 548 meters away from the manor to stop, the car bracket raised the use of video cameras and infrared detectors to the window spying, FBI officials were observed around the screen back to the image sensor, the activities of the house can be seen clearly. 6.3 civil robot Robot command Third, civil robot Robot command In fact, people do not want to the robot is not a complete definition, since the robot from the date of the birth of people will continue to try to explain what a robot in the end. But with the rapid development of robot technology and information era, the robot covers the contents of the increasingly rich and constantly enrich the definition of robot and innovation. 1886, French writer Lier Ya When his novel Future Eve will look like a persons machine named Andeluoding (android), It consists of four components: 1, Life system (balance, walking, talking, body swing, feeling, expression to regulate the movement, etc.); 2, modeling solution quality (freedom of movement joints can be covered by a metal body, a suit of armor); 3, artificial muscles (in the armor on the body, veins, and gender of the body of various forms); 4, artificial skin (containing color, mechanism, contour, hair, vision, dental, gripper, etc.). 1920 Czech writer Karel Capek published a science fiction screenplay, Rossums Universal Robots. In the script, the Capec the Czech Robota wrote the Robot, Robota meaning slave. Opera preview of the development of robots the tragic impact on human society, causing widespread concern in everyone, be regarded as the origin of the word robot. In the drama, the robot according to its owners commands work quietly, without feelings and emotions in order to dull the way hard labor. Later, Rosam the success of the company to make robots with feelings, resulting in the application of robotics sector is increasing rapidly. In factories and domestic work, the robot has become an indispensable member. Robots find selfishness and injustice of human beings, and finally rebelled, and the robot are very excellent physical and mental, so exterminate the human race. But the robot does not know how to make their own that they themselves will soon become extinct, so they started looking for human survivors, but to no avail. Finally, a pair of robot perception is better than other men and women love a robot. Then robots evolved for mankind, the world has revived the. Capek made a robot safety, perception and self-propagation problems. Scientific and technological progress is likely to spark a human do not want problems. Although only a science fiction world of imagination, but human society is likely to face this reality. In order to prevent harm to human robots, science fiction writer Isaac Asimov (Isaac Asimov) in 1940 proposed a three principles of robotics: 1, the robot should not harm humans; 2, the robot should abide by the order of mankind, with the exception of the first violation of an order; 3, the robot should be able to protect themselves in conflict with the exception of the first phase. This is ethical given to the robot program. Robot academia has developed these three principles as guidelines for robots. In 1967, Japan held the first academic conference on the robot, the proposed two representative definition. First, Masahiro Mori and co-Tian Zhou Ping made: The robot is a kind of mobility, individuality, intelligence, versatility, half-human half-machine, automatic nature of slave mentality, etc. 7 features flexible machine. From this definition, Masahiro Mori proposed the automatic nature of intelligence, individuality, half-human half-machine, job nature, universal, informative, flexible, limited, mobility features such as 10 to represent the robot image. The other is made by Kato Ichiro has the following three conditions for a machine called the Robot: 1, with the brain, hands, feet and other three elements of the individual; 2, with non-contact sensor (with eyes, ears to accept the distance information) and contact sensors; 3, with a balanced feel and inherent sense of sensors. Etiquette Robot This definition emphasizes the implications of humanoid robots should be, that it work by hand, relying on foot to achieve movement, from the brain to complete the unified command role. Non-contact sensors and touch sensors is equivalent to peoples facial features, the robot can identify the external environment, while the balance of perception and the inherent sense is the state of robot perception itself indispensable to the sensor. Industrial robots are not described here but the autonomous robot. Robot is defined as a wide variety of, the reason is that it has a certain degree of ambiguity. Animals generally have these elements, so to be understood as humanoid robot machine at the same time, the robot can be broadly understood as imitation animal machine. 1988 in France Espiau the robot is defined as: Robotics is the design of sensor information according to pre-planning to achieve a good operating system, and thus the system to use as a research object. 1987 International Organization for Standardization of industrial robots are defined: Industrial robot is a kind of automatic control of the operation and mobility features, to complete a variety of operating a programmable manipulator. Chinese scientists on the robot is defined as: robot is an automated machine, the only difference is that this machine has some similarities with human or biological intelligence capabilities, such as perceptual capacity, planning capacity, motor ability and collaboration capabilities, is a highly flexible automated machines. In research and development operation unknown and uncertain environment, the process of the robot, people gradually come to realize is the essence of robotics perception, decision-making, action and interactive technology combination. As people of understanding the nature of the intelligent robot technology deepening, robotics technology has begun to stream to penetrate all areas of human activity. With the application characteristics of these areas, people have developed a wide variety of perceptions, decisions, actions and ability to interact with a variety of intelligent robots and special machines, such as mobile robots, micro robots, underwater robots, medical equipment people, military robots, air space robots, entertainment robots. Special environment for different tasks and the adaptability of robotics and general automation equipment is also an important distinction. These robots are far from their appearance out of the first humanoid robot and industrial robot has a shape more in line with a variety of special requirements of different application areas, their features and greatly enhanced the degree of intelligence, so as to robots technology to open up a broader space for development. Song Jian, Chinese Academy of Engineering said: Robotics progress and application of automatic control of the 20th centurys most compelling achievement is the highest sense of the contemporary automation. Robot technology integrates multi-disciplinary development results represent