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What Is Robot?
A robot is basically a highly automated machine that is created to duplicate one or more physical of a person. It is a product of comprehensive techniques utilizing automatic control , electronics ,mechanics, computer science and other applied sciences. Robot are designed and manufactured to help us do our work faster, better, and easier, with little intervention from human operators. Ever in terms of mechanical structure , most are made with a number of parts mimicking human anatomy or that of some animals or insects, but they do not necessarily resemble man. There are two basic types of robots now widely used types of robots now widely used in industry and service. They are the manipulator and the mobile robot.
The manipulator, is fixed but with a movable arm, commonly known as the robotic arm. It is usually mouted on a base in a location close to where it will perform its tasks .The most frequent application of manipulators in manufacturingis welding, painting, material handling ,assembling, spraying, adhesive binding grinding, packaging, riveting, etc. Jobs like these are repetitive, simple and reprogrammable and are thus particularly suitable for robotic arms, which can perform the jobs with high efficiency and accuracy over a long period of time.
A mobile robot, is capable of moving around when it performs its tasks. It is usually mounted on a small vehicle-like structure with wheels or legs to enjoy greater mobility in difficult terrain. Some mobile robots are excellent for replacing humans in hazardous environments, for example, a robot can be sent into the reactor of a nuclear plant to remove expired fuel rods. or into a polluted mine to clean up toxants, or into a burning building to rescue victims.
The typical structure of industrial robots consists of four major components: the manipulator arm, the end effector, the actuator and the controller.
The manipulator arm is the major working component of a robot .It often has a shoulder joint, an elbow and a wrist.
The end effector or attached to the end of the robotic arm. It
Is the device intended for performing the designated operations as a human hand. One of the most popular types of end effector is a gripper ,a pinch-type clamp that simulates a thumb and a finger.The tactile ensors are installed on their skin. They can sense the shape, texture, hardness and orientation of the object they hold.
The actuator is the power source for moving the robotic arm, controlling the joints and operating the end effector. Three basic types of power source are used: electric, hydraulic and pneumatic.
The controller sends signals to the power source to move the robotic arm to a specific position and to actuate the end effector. Most controllers were electronic circuits in a form of NC servo control or CNC.
Intelligent Robots
We understood from a broad sense, the so-called intelligent robot, which gives the most profound impression is a unique self-control "of living." In fact, this controlled "living on" the main organ is not a real person, as delicate and complex.
Intelligent Robot with all kinds of internal information and external sensor information sensors, such as vision, hearing, touch, smell. In addition to a receptor, it also effects, as in the role of the environment means. This is rheumatism, or the entire motor, which brought arms and legs, long noses, such as moving tentacles.
Intelligent robot is called intelligent robot, it is because it has developed a "brain." In the role of the brain is a central computer, this computer operating its people with a direct link. The most important thing is, this can be carried out by computer for purposes of action. Because of this, we can truly say that this robot is a robot, despite their appearance may be different.
Intelligent robots can understand human language, the language of human dialogue with the operator in its own "consciousness" in the formation of a separate enable it to the "survival" of the external environment - the actual situation of the detailed model. Analysis of the case it can adjust its own action by the operator to achieve all the requests made by the hope that can be prepared by the actions, and insufficient information in the circumstances and the environment under the conditions of a rapidly changing completion of these actions. Of course, it should be the same and our human thinking, it is impossible to do. However, there are still attempting to set up a computer can understand a certain kind of "micro-world." For example Weinuogele at the Massachusetts Institute of Technology Artificial Intelligence Laboratory production of robots. This machine trying to completely learn to play building blocks: the order of building blocks, mobile structure and geometric patterns, to the extent of a child. The robot can walk alone and picked up certain items, can "see" things to see and analyze things, to obey instructions and use human language to answer questions. What is more important is that it is "understandable" capability. To this end, it has been in an artificial intelligence academic conference that, less than 10 years, we have computer intelligence increased by 10 times as Weinuogele pointed out, the computer has obvious artificial intelligence component.
However, despite the artificial intelligence robot made remarkable achievements in the control theory, experts believe that it could have the intelligence did not reach the limit. Computer problem is not only the computing speed is not sufficient and feel less sensor types, but also in other areas, such as a lack of rational procedures for the preparation of the robot design. You just think, now even the most ordinary people in resolving the question of the thinking process have not deciphered, human intelligence will be how it - this process of understanding the progress is very slow, how can we let the computer control of the "thinking" speed quickly ? Therefore, there is no awareness of this issue has become its own human robot obstacle on the road to development. Create "life" is not fixed in the environment intelligent robot this topic, in recent years so that people in biological systems, animal and human brain in the process of self-awareness and understanding of a profound study. Results will appear grade adaptive system that this doctrine is effectively developing. As organizations intelligent robot behavior consistent with the purpose of the theoretical foundation of the brain is how we control our body? From a purely mechanical standpoint rough estimate, our body also has more than 200 degrees of freedom. When we write in, walking, running, swimming, playing the piano when these complex movements, what is the brain of each one muscle orders? How the brain can in the shortest possible time dealing with so much information? Our brain is not involved in these activities. The brain - the center of our information processors "disdain" to control this. It is not our body monitoring the various sports sites, movements in the detailed design is much lower than the level of the cerebral cortex, as well. Much like using a high-level language programming, as long as that "an interval from 1 to 20 for a group of figures", the robot will be this group of their own detailed instruction in the operating system. The most obvious is that, "access to a hot object to the retractable handle," The most obvious of these instructions even in the brain also do not realize that the time has been issued.
To a large number of tasks in the allocation between the cortex, this is more than a system to control organ for each element of the strict requirements necessary action on the distribution of cost-effective, economical and effective. In resolving major issues, such decentralization will be the brain is too complicated, not only Naolu, and even the whole body to accommodate all over. The completion of this or that number of complex movements, we usually be decomposed into a series of petty actions generally (such as, sit down, step right, step left foot). Teach children a variety of actions can be summed up in the children's "memory" in the formation and consolidation of the corresponding little tricks. The same token, the process is perceived such an organisation together. Sentimental image - that is auditory, visual or tactile pulse sequence or combination of a fixed (horse), or a sequence and combination of both.
The problem is that control robot simulation animal movement and the ability to adapt. The establishment of robot control hierarchy - is the first robot in the various levels of hierarchy between the subsystems and a perceived function, information processing and control functions of the distribution function. Third generation of robots with large-scale processing capacity, in which case information processing and control the complete reunification of algorithms, in fact inefficient, and even launched. Therefore, the grading structure of the emergence of adaptive first is to enhance the quality control of the robot, which is to reduce the level of uncertainty, and the rapid increase of action. In order to play all levels and the role of subsystems, the need to significantly reduce the amount of information. So the algorithm so that people can perform their duties in the greatly reduced uncertainty of the situation down fulfil its mandate.
In short, the intelligent robot developed the third generation is an important feature. According to the intelligence robot people to determine their own level of the other robots. Some people even so a robot into the following categories: controlled robot - "zero generation" robots, and do not have any intellectual property is controlled by the people to master manipulator; the robot can be trained -- the first generation of robots with memory, from person operation, action plans and procedures specified by the person, it is only remember (the ability to receive training) and reappearance out; feeling robots - robots who remember arrangement plan, and then one way or another based on external data (feedback) calculated actions of specific procedures; intelligent robot - were designated target, the robot independently prepared operational plans, according to the actual situation determined action procedures, and then moves into the campaign operation. Therefore, it has a wide range of sensory systems, intelligent, analog devices (and its surrounding circumstances - robot awareness and self-consciousness).
什么是機器人
機器人基本上是一種高度自動化的機器，可模仿人的一個或多個身體動作。機器人是涉及自動控制、電子學(xué)、機械學(xué)、計算機科學(xué)以及其它應(yīng)用科學(xué)等學(xué)科的綜合技術(shù)的產(chǎn)物。人們設(shè)計和制造機器人用于幫助我們在不需要操作者過多參與的情況下，更好、更快更方便的工作。盡管按機械結(jié)構(gòu)的術(shù)語，大多數(shù)機器人都做成有一定數(shù)量的按解剖學(xué)模仿人類、動物和昆蟲的零件，但機器人不必要和人的模樣相似。
目前廣泛應(yīng)用于工業(yè)及服務(wù)行業(yè)的機器人主要有兩種基本類型，即機械手和移動機器人。
機械手是固定安裝的，但其手臂可移動。通常稱機械手為機器人手臂。機械手通常安裝在位于其工作區(qū)域附近的地方。制造業(yè)中機械手應(yīng)用最多的是焊接、油漆、抓取材料、裝配、噴涂、粘貼、磨削、包裝、鉚接等工作。像這樣的一些工作都是重復(fù)、簡單、可重新編程的，因而特別適用于機械手，它可以長時間高效、高精度地完成工作。
移動機器人用于在工作時需要來回走動的場合。常將機器人安裝在帶有輪子或者腿看似小車的結(jié)構(gòu)上，以滿足為不利工作場地提供較大移動范圍的需要。有些用于水下作業(yè)的機器人還需要裝上推進(jìn)系統(tǒng)，如螺旋槳或船舵等。有些移動機器人在代表人類在惡劣的環(huán)境下工作方面有優(yōu)越性。例如：將機器人派到核電站的反應(yīng)堆中去拆換用完了的燃料桿，或?qū)⑵渑傻接卸镜V井內(nèi)去消除有毒氣體，或派往著火的大樓去搶救傷員等。
工業(yè)機器人的典型結(jié)構(gòu)由四個主要部分組成：操作手臂、前端操作手、執(zhí)行件和控制器。
操作手臂是機器人的主要工作部件，通常有肩關(guān)節(jié)、肘關(guān)節(jié)、和腕關(guān)節(jié)。
前端操作手安裝在手臂最前端，它是用來完成類似于人手動作的裝置。最通用的形式是手爪，即：是一種模仿拇指和食指的挾起式夾鉗。在它們的皮膚上裝有觸覺傳感器。它們能感覺出所抓取物體的形狀、材質(zhì)、硬度及方向。
執(zhí)行件是移動手臂、控制關(guān)節(jié)、操作手抓的動力源。最基本的三種動力源是電動、液壓和氣動。
控制器將信號傳給動力源，將手臂移動到指定位置并操作手抓。大多數(shù)控制器是以數(shù)控或伺服控制或計算機數(shù)控為形式的電子線路。
智能機器人
我們從廣泛意義上理解所謂的智能機器人，它給人的最深刻的印象是一個獨特的進(jìn)行自我控制的“活物”。其實，這個自控“活物”的主要器官并沒有像真正的人那樣微妙而復(fù)雜。
智能機器人具備形形色色的內(nèi)部信息傳感器和外部信息傳感器，如視覺、聽覺、觸覺、嗅覺。除具有感受器外，它還有效應(yīng)器，作為作用于周圍環(huán)境的手段。這就是筋肉，或稱自整步電動機，它們使手、腳、長鼻子、觸角等動起來。
智能機器人之所以叫智能機器人，這是因為它有相當(dāng)發(fā)達(dá)的“大腦”。在腦中起作用的是中央計算機，這種計算機跟操作它的人有直接的聯(lián)系。最主要的是，這樣的計算機可以進(jìn)行按目的安排的動作。正因為這樣，我們才說這種機器人才是真正的機器人，盡管它們的外表可能有所不同。
智能機器人能夠理解人類語言，用人類語言同操作者對話，在它自身的“意識”中單獨形成了一種使它得以“生存”的外界環(huán)境——實際情況的詳盡模式。它能分析出現(xiàn)的情況，能調(diào)整自己的動作以達(dá)到操作者所提出的全部要求，能擬定所希望的動作，并在信息不充分的情況下和環(huán)境迅速變化的條件下完成這些動作。當(dāng)然，要它和我們?nèi)祟愃季S一模一樣，這是不可能辦到的。不過，仍然有人試圖建立計算機能夠理解的某種“微觀世界”。比如維諾格勒在麻省理工學(xué)院人工智能實驗室里制作的機器人。這個機器試圖完全學(xué)會玩積木：積木的排列、移動和幾何圖案結(jié)構(gòu)，達(dá)到一個小孩子的程度。這個機器人能獨自行走和拿起一定的物品，能“看到”東西并分析看到的東西，能服從指令并用人類語言回答問題。更重要的是它具有“理解”能力。為此，有人曾經(jīng)在一次人工智能學(xué)術(shù)會議上說過，不到十年，我們把電子計算機的智力提高了10倍；如維諾格勒所指出的，計算機具有明顯的人工智能成分。
不過，盡管機器人人工智能取得了顯著的成績，控制論專家們認(rèn)為它可以具備的智能水平的極限并未達(dá)到。問題不光在于計算機的運算速度不夠和感覺傳感器種類少，而且在于其他方面，如缺乏編制機器人理智行為程序的設(shè)計思想。你想，現(xiàn)在甚至連人在解決最普通的問題時的思維過程都沒有破譯，人類的智能會如何呢——這種認(rèn)識過程進(jìn)展十分緩慢，又怎能掌握規(guī)律讓計算機“思維”速度快點呢？因此，沒有認(rèn)識人類自己這個問題成了機器人發(fā)展道路上的絆腳石。制造“生活”在具有不固定性環(huán)境中的智能機器人這一課題，近年來使人們對發(fā)生在生物系統(tǒng)、動物和人類大腦中的認(rèn)識和自我認(rèn)識過程進(jìn)行了深刻研究。結(jié)果就出現(xiàn)了等級自適應(yīng)系統(tǒng)說，這種學(xué)說正在有效地發(fā)展著。作為組織智能機器人進(jìn)行符合目的的行為的理論基礎(chǔ)，我們的大腦是怎樣控制我們的身體呢？純粹從機械學(xué)觀點來粗略估算，我們的身體也具有兩百多個自由度。當(dāng)我們在進(jìn)行寫字、走路、跑步、游泳、彈鋼琴這些復(fù)雜動作的時候，大腦究竟是怎樣對每一塊肌肉發(fā)號施令的呢？大腦怎么能在最短的時間內(nèi)處理完這么多的信息呢？我們的大腦根本沒有參與這些活動。大腦——我們的中心信息處理機“不屑于”去管這個。它根本不去監(jiān)督我們身體的各個運動部位，動作的詳細(xì)設(shè)計是在比大腦皮層低得多的水平上進(jìn)行的。這很像用高級語言進(jìn)行程序設(shè)計一樣，只要指出“間隔為一的從1～20的一組數(shù)字”，機器人自己會將這組指令輸入詳細(xì)規(guī)定的操作系統(tǒng)。最明顯的就是，“一接觸到熱的物體就把手縮回來”這類最明顯的指令甚至在大腦還沒有意識到的時候就已經(jīng)發(fā)出了。
把一個大任務(wù)在幾個皮層之間進(jìn)行分配，這比控制器官給構(gòu)成系統(tǒng)的每個要素規(guī)定必要動作的嚴(yán)格集中的分配合算、經(jīng)濟(jì)、有效。在解決重大問題的時候，這樣集中化的大腦就會顯得過于復(fù)雜，不僅腦顱，甚至連人的整個身體都容納不下。在完成這樣或那樣的一些復(fù)雜動作時，我們通常將其分解成一系列的普遍的小動作 （如起來、坐下、邁右腳、邁左腳）。教給小孩各種各樣的動作可歸結(jié)為在小孩的“存儲器”中形成并鞏固相應(yīng)的小動作。同樣的道理，知覺過程也是如此組織起來的。感性形象——這是聽覺、視覺或觸覺脈沖的固定序列或組合 （馬、人），或者是序列和組合二者兼而有之。
控制機器人的問題在于模擬動物運動和人的適應(yīng)能力。建立機器人控制的等級——首先是在機器人的各個等級水平上和子系統(tǒng)之間實行知覺功能、信息處理功能和控制功能的分配。第三代機器人具有大規(guī)模處理能力，在這種情況下信息的處理和控制的完全統(tǒng)一算法，實際上是低效的，甚至是不中用的。所以，等級自適應(yīng)結(jié)構(gòu)的出現(xiàn)首先是為了提高機器人控制的質(zhì)量，也就是降低不定性水平，增加動作的快速性。為了發(fā)揮各個等級和子系統(tǒng)的作用，必須使信息量大大減少。因此算法的各司其職使人們可以在不定性大大減少的情況下來完成任務(wù)。
總之，智能的發(fā)達(dá)是第三代機器人的一個重要特征。人們根據(jù)機器人的智力水平?jīng)Q定其所屬的機器人代別。有的人甚至依此將機器人分為以下幾類：受控機器人——“零代”機器人，不具備任何智力性能，是由人來掌握操縱的機械手；可以訓(xùn)練的機器人——第一代機器人，擁有存儲器，由人操作，動作的計劃和程序由人指定，它只是記住 （接受訓(xùn)練的能力）和再現(xiàn)出來；感覺機器人——機器人記住人安排的計劃后，再依據(jù)外界這樣或那樣的數(shù)據(jù) （反饋）算出動作的具體程序；智能機器人——人指定目標(biāo)后，機器人獨自編制操作計劃，依據(jù)實際情況確定動作程序，然后把動作變?yōu)椴僮鳈C構(gòu)的運動。因此，它有廣泛的感覺系統(tǒng)、智能、模擬裝置（周圍情況及自身——機器人的意識和自我意識）。
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畢業(yè)設(shè)計（論文）任務(wù)書
學(xué)生姓名
朱海濱
系部
汽車工程系
專業(yè)、班級
車輛工程0893112
指導(dǎo)教師姓名
于連志
職稱
助工
從事
專業(yè)
交通運輸
是否外聘
□是■否
題目名稱
生產(chǎn)線裝配機器人手臂設(shè)計
一、設(shè)計（論文）目的、意義
目的：隨著計算機技術(shù)、微電子技術(shù)、網(wǎng)絡(luò)技術(shù)等的快速發(fā)展, 必將迎來裝配機器人的飛速發(fā)展。我國機器人技術(shù)雖起步較晚, 在國家科技攻關(guān)項目及國家863計劃的支持下也得到了一定的發(fā)展, 但與國際先進(jìn)水平還有很大差距, 目前國際機器人界都在加大科研力度,進(jìn)行機器人共性技術(shù)及關(guān)鍵技術(shù)的研究, 并朝著智能化和多樣化方向發(fā)展。因此, 發(fā)展我國的裝配機器人事業(yè)急不可待。我對于本課題的研究，通過對課題的逐步深入和研究，來完成對裝配機器人的初步設(shè)計，在這基礎(chǔ)上我還想做出一些創(chuàng)新，一方面開發(fā)一下創(chuàng)新思維，一方面在這個領(lǐng)域里做出一點突破，為裝配機器人事業(yè)出一份力。
這次畢業(yè)設(shè)計對我以后學(xué)習(xí)和工作也有深遠(yuǎn)的現(xiàn)實意義:
（1）對設(shè)計方案的思考，還有對設(shè)計中一些關(guān)鍵問題的解決，這些都培養(yǎng)了我自己進(jìn)行綜合分析和提高解決實際問題的能力，從而達(dá)到鞏固、擴大、深化所學(xué)知識的目的。
（2）在設(shè)計中，查閱相關(guān)資料、手冊，學(xué)習(xí)這些資料中的知識要點和設(shè)計方法，從而運用到自己的設(shè)計中。這些培養(yǎng)了我調(diào)查研究，熟悉有關(guān)技術(shù)政策，運用國家標(biāo)準(zhǔn)、規(guī)范、手冊、圖冊等工具書，進(jìn)行設(shè)計計算、數(shù)據(jù)處理、編寫技術(shù)文件的獨立工作能力。
（3）通過指導(dǎo)教師地言傳身教，還有自己對設(shè)計的見解，研究出一套或是多套設(shè)計方案。這樣使自己建立正確的設(shè)計思想；初步掌握解決本專業(yè)工程技術(shù)問題的方法和手段；從而使自己受到一次工程師的基本訓(xùn)練。
二、設(shè)計（論文）內(nèi)容、技術(shù)要求（研究方法）
(一) 1.六自由度關(guān)節(jié)型機器人總體傳動方案確定；
2.通過計算選擇合理的機器人組件；
3.設(shè)計機器人本體結(jié)構(gòu)；
4.繪制機器人總裝圖、必要的零件圖和相應(yīng)的硬件電路圖；
5.針對設(shè)計的機器人設(shè)計其相應(yīng)的控制電路；
6.編寫設(shè)計計算說明書。
配圖、操縱機構(gòu)裝配圖及各主要零部件的零件圖。
(二)、本設(shè)計主要研究方法：
1.文獻(xiàn)調(diào)研和實際考察，研究前人經(jīng)驗、現(xiàn)實的需要以及存在的問題
2.對所要研究的課題進(jìn)行初步可行性分析
3.進(jìn)行實地設(shè)計和改進(jìn)
(三)、論文要求
1.參考文獻(xiàn)篇數(shù)：10篇以上（其中不少于2篇外文文獻(xiàn)）
2.內(nèi)容充實，結(jié)構(gòu)清晰合理，符合規(guī)范
3.必須進(jìn)行大量的實地調(diào)查
設(shè)計（論文）完成后應(yīng)提交的成果
（一）計算說明部分
1. 根據(jù)相關(guān)參數(shù)完成機械手臂及零部件設(shè)計、計算和校核；
3、 2.撰寫設(shè)計說明書10000字以上；
（二）圖紙部分
繪制兩張零號圖紙以上，其中至少有一張CAD圖
四、設(shè)計（論文）進(jìn)度安排
第1-2周：收集資料，完成開題報告，完成總體設(shè)計方案并及時寫好畢業(yè)設(shè)計日志；10月20日開題檢查
第3-7周：1、完成整體設(shè)計，材料的選擇和相關(guān)計算，完成所有草圖的繪制；2、11月18日指導(dǎo)教師進(jìn)行中期檢查；3、11月24日全系中期檢查并及時寫好畢業(yè)設(shè)計日志。
第8-9周：1、完成所有正式圖紙的繪制和論文草稿；2、12月8日結(jié)題檢查。
第10-11周：1、對畢業(yè)設(shè)計論文的內(nèi)容、格式、英、漢文摘要、畢業(yè)論文等內(nèi)容進(jìn)行修改，2、完成正式論文的裝訂；3、12月19日上交所有畢業(yè)設(shè)計相關(guān)材料。
第12周：1、準(zhǔn)備畢業(yè)設(shè)計答辯。2、12月29日答辯。
五、主要參考資料
1.期刊類：相關(guān)資料（中國學(xué)術(shù)期刊網(wǎng)）
2.書籍：相關(guān)汽車設(shè)計、機械設(shè)計等書籍
3.網(wǎng)絡(luò)：相關(guān)專業(yè)網(wǎng)站
4.其他：相關(guān)科研資料
六、備注
指導(dǎo)教師簽字：
年 月 日
教研室主任簽字：
年 月 日
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