机器人手臂教程英文版

第一篇：机器人手臂教程英文版

Degrees of Freedom Robot Workspace Mobile Manipulators Force Calculations Forward Kinematics Inverse Kinematics Motion Planning Velocity

Sensing

End Effector Design

About this Robot Arm Tutorial

The robot arm is probably the most mathematically complex robot you could ever build.As such, this tutorial can't tell you everything you need to know.Instead, I will cut to the chase and talk about the bare minimum you need to know to build an effective robot arm.Enjoy!To get you started, here is a video of a robot arm assignment I had when I took Robotic Manipulation back in college.My group programmed it to type the current time into the keyboard...(lesson learned, don't crash robot arms into your keyboard at full speed while testing in front of your professor)You might be also interested in a robot arm I built that can shuffle, cut, and deal playing cards.Degrees of Freedom(DOF)

The degrees of freedom, or DOF, is a very important term to understand.Each degree of freedom is a joint on the arm, a place where it can bend or rotate or translate.You can typically identify the number of degrees of freedom by the number of actuators on the robot arm.Now this is very importantL1^2x * L2 * s2)/(x^2 + y^2))where c2 =(x^2 + y^2L2^2)/(2 * L1 * L2);and s2 = sqrt(1leaving the end effector to possibly swing wildly between those points.In the image below the end effector of the robot arm is moving from the blue point to the red point.In the top example, the end effector travels a straight line.This is the only possible motion this arm can perform to travel a straight line.In the bottom example, the arm is told to get to the red point as fast as possible.Given many different trajectories, the arm goes the method that allows the joints to rotate the fastest.Which method is better? There are many deciding factors.Usually you want straight lines when the object the arm moves is really heavy, as it requires the momentum change for movement(momentum = mass * velocity).But for maximum speed(perhaps the arm isn't carrying anything, or just light objects)you would want maximum joint speeds.Now suppose you want your robot arm to operate at a certain rotational velocity, how much torque would a joint need? First, lets go back to our FBD:

Now lets suppose you want joint J0 to rotate 180 degrees in under 2 seconds, what torque does the J0 motor need? Well, J0 is not affected by gravity, so all we need to consider is momentum and inertia.Putting this in equation form we get this: torque = moment_of_inertia * angular_acceleration breaking that equation into sub components we get: torque =(mass * distance^2)*(change_in_angular_velocity / change_in_time)and change_in_angular_velocity =(angular_velocity1)-(angular_velocity0)

angular_velocity = change_in_angle / change_in_time

Now assuming at start time 0 that angular_velocity0 is zero, we get torque =(mass * distance^2)*(angular_velocity / change_in_time)where distance is defined as the distance from the rotation axis to the center of mass of the arm: center of mass of the arm = distance = 1/2 *(arm_length)(use arm mass)but you also need to account for the object your arm holds: center of mass of the object = distance = arm_length(use object mass)So then calculate torque for both the arm and then again for the object, then add the two torques together for the total: torque(of_object)+ torque(of_arm)= torque(for_motor)

And of course, if J0 was additionally affected by gravity, add the torque required to lift the arm to the torque required to reach the velocity you need.To avoid doing this by hand, just use the robot arm calculator.But it gets harder...the above equation is for rotational motion and not for straight line motions.Look up something called a Jacobian if you enjoy mathematical pain =P Another Video!

In order to better understand robot arm dynamics, we had a robot arm bowling competition using the same DENSO 6DOF robot arms as in the clocks video.Each team programs an arm to do two tasks: o o Try to place all three of its pegs in the opponents' goal Block opponent pegs from going in your own goal Enjoy!(notice the different arm trajectories)Arm Sagging

Arm sagging is a common affliction of badly designed robot arms.This is when an arm is too long and heavy, bending when outwardly stretched.When designing your arm, make sure the arm is reinforced and lightweight.Do a finite element analysis to determine bending deflection/stress such as I did on my ERP robot: Keep the heaviest components, such as motors, as close to the robot arm base as possible.It might be a good idea for the middle arm joint to be chain/belt driven by a motor located at the base(to keep the heavy motor on the base and off the arm).The sagging problem is even worse when the arm wobbles between stop-start motions.The solve this, implement a PID controller so as to slow the arm down before it makes a full stop.Sensing

Most robot arms only have internal sensors, such asencoders.But for good reasons you may want to add additional sensors, such as video, touch, haptic, etc.A robot arm without video sensing is like an artist painting with his eyes closed.Using basic visual feedback algorithms, a robot arm could go from point to point on its own without a list of preprogrammed positions.Giving the arm a red ball, it could actually reach for it(visual tracking and servoing).If the arm can locate a position in X-Y space of an image, it could then direct the end effector to go to that same X-Y location(by using inverse kinematics).If you are interested in learning more about the vision aspect of visual servoing, please read the Computer Vision Tutorials for more information.Haptic sensing is a little different in that there is a human in the loop.The human controls the robot arm movements remotely.This could be done by wearing a special glove, or by operating a miniature model with position sensors.Robotic arms for amputees are doing a form of haptic sensing.Also to note, some robot arms have feed back sensors(such as touch)that gets directed back to the human(vibrating the glove, locking model joints, etc.).Tactile sensing(sensing by touch)usually involves force feedback sensors and current sensors.These sensors detect collisions by detecting unexpected force/current spikes, meaning a collision has occurred.A robot end effector can detect a successful grasp, and not grasp too tight or too lightly, just by measuring force.Another method would be to use current limitersperhaps even identify the object by its weight.Try this.Close your eyes, and put both of your hands in your lap.Now keeping your eyes closed, move your hand slowly to reach for your computer mouse.Do it！！You will see why soon...Now what will happen is that your hand will partially miss, but at least one of your fingers will touch the mouse.After that finger touches, your hand will suddenly re-adjust its position because it now knows exactly where that mouse is.This is the benefit of tactile sensing-no precision encoders required for perfect contact!

End Effector Design

In the future I will write a separate tutorial on how to design robot grippers, as it will require many more pages of material.In the meantime, you might be interested in reading the tutorial for calculating friction and force for robot end effectors.I also went in to some detail describing my robot arm card dealing gripper.Anyway, I hope you have enjoyed this robot arm tutorial!

第二篇：论文工业机器人抓取手臂的结构设计毕业论文

工业机器人抓取手部结构及其应用 前言

1.1 工业机器人简介

几千年前人类就渴望制造一种像人一样的机器，以便将人类从繁重的劳动中解脱出来。如古希腊神话《阿鲁哥探险船》中的青铜巨人泰洛斯（Taloas)，犹太传说中的泥土巨人等等，这些美丽的神话时刻激励着人们一定要把美丽的神话变为现实，早在两千年前就开始出现了自动木人和一些简单的机械偶人。

到了近代，机器人一词的出现和世界上第一台工业机器人问世之后，不同功能的机器人也相继出现并且活跃在不同的领域，从天上到地下，从工业拓广到农业、林、牧、渔，甚至进入寻常百姓家。机器人的种类之多，应用之广，影响之深，是我们始料未及的。

工业机器人由操作机（机械本体）、控制器、伺服驱动系统和检测传感装臵构成，是一种仿人操作、自动控制、可重复编程、能在三维空间完成各种作业的机电一体化自动化生产设备。特别适合于多品种、变批量的柔性生产。它对稳定、提高产品质量，提高生产效率，改善劳动条件和产品的快速更新换代起着十分重要的作用。

机器人并不是在简单意义上代替人工的劳动，而是综合了人的特长和机器特长的一种拟人的电子机械装臵，既有人对环境状态的快速反应和分析判断能力，又有机器可长时间持续工作、精确度高、抗恶劣环境的能力，从某种意义上说它也是机器的进化过程产物，它是工业以及非产业界的重要生产和服务性设备，也是先进制造技术领域不可缺少的自动化设备。

1.2 世界机器人的发展

国外机器人领域发展近几年有如下几个趋势：

（1）.工业机器人性能不断提高（高速度、高精度、高可靠性、便于操作和维修），而单机价格不断下降，平均单机价格从91年的10．3万美元降至97年的6．5万美元。（2）.机械结构向模块化、可重构化发展。例如关节模块中的伺服电机、减速机、检测系统三位一体化；由关节模块、连杆模块用重组方式构造机器人整机；国外已有模块化装配机器人产品问市。

（3）．工业机器人控制系统向基于PC机的开放型控制器方向发展，便于标准化、网络化；器件集成度提高，控制柜日见小巧，且采用模块化结构；大大提高了系统的可靠性、易操作性和可维修性。

（4）．机器人中的传感器作用日益重要，除采用传统的位臵、速度、加速度等传感器 外，装配、焊接机器人还应用了视觉、力觉等传感器，而遥控机器人则采用视觉、声觉、力觉、触觉等多传感器的融合技术来进行环境建模及决策控制；多传感器融合配臵技术在产品化系统中已有成熟应用。

（5）．虚拟现实技术在机器人中的作用已从仿真、预演发展到用于过程控制，如使遥控机器人操作者产生臵身于远端作业环境中的感觉来操纵机器人。

（6）．当代遥控机器人系统的发展特点不是追求全自治系统，而是致力于操作者与机器人的人机交互控制，即遥控加局部自主系统构成完整的监控遥控操作系统，使智能机器人走出实验室进入实用化阶段。美国发射到火星上的?索杰纳?机器人就是这种系统成功应用的最著名实例。

（7）．机器人化机械开始兴起。从94年美国开发出?虚拟轴机床?以来，这种新型装臵已成为国际研究的热点之一，纷纷探索开拓其实际应用的领域。

1.3 我国工业机器人的发展

有人认为，应用机器人只是为了节省劳动力，而我国劳动力资源丰富，发展机器人不一定符合我国国情。这是一种误解。在我国，社会主义制度的优越性决定了机器人能够充分发挥其长处。它不仅能为我国的经济建设带来高度的生产力和巨大的经济效益，而且将为我国的宇宙开发、海洋开发、核能利用等新兴领域的发展做出卓越的贡献。

我国的工业机器人从80年代?七五?科技攻关开始起步，在国家的支持下，通过?七五?、?八五?科技攻关，目前已基本掌握了机器人操作机的设计制造技术、控制系统硬件和软件设计技术、运动学和轨迹规划技术，生产了部分机器人关键元器件，开发出喷漆、弧焊、点焊、装配、搬运等机器人；其中有130多台套喷漆机器人在二十余家企业的近30条自动喷漆生产线（站）上获得规模应用，弧焊机器人已应用在汽车制造厂的焊装线上。但总的来看，我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，如：可靠性低于国外产品；机器人应用工程起步较晚，应用领域窄，生产线系统技术与国外比有差距；在应用规模上，我国已安装的国产工业机器人约200台，约占全球已安装台数的万分之四。以上原因主要是没有形成机器人产业，当前我国的机器人生产都是应用户的要求，?一客户，一次重新设计?，品种规格多、批量小、零部件通用化程度低、供货周期长、成本也不低，而且质量、可靠性不稳定。因此迫切需要解决产业化前期的关键技术，对产品进行全面规划，搞好系列化、通用化、模化设计，积极推进产业化进程。

我国的智能机器人和特种机器人在?863?计划的支持下，也取得了不少成果。其中最为突出的是水下机器人，6000米水下无缆机器人的成果居世界领先水平，还开发出直接遥控机器人、双臂协调控制机器人、爬壁机器人、管道机器人等机种；在机器人视觉、力觉、触觉、声觉等基础技术的开发应用上开展了不少工作，有了一定的发展基础。但是在多传感器信息融合控制技术、遥控加局部自主系统遥控机器人、智能装配机器人、机器人化机械等的开发应用方面则刚刚起步，与国外先进水平差距较大，需要在原有成绩的基础上，有重点地系统攻关，才能形成系统配套可供实用的技术和产品，以期在十五世纪后期立于世界先进行列之中。手部结构 2.1概述

手部是机械手直接用于抓取和握紧工件或夹持专用工具进行操作的部件，它具有模仿人手的功能，并安装于机械手手臂的前端。手部结构及型式根据它的使用场合和被夹持工件的形状，尺寸，重量，材质以及被抓取部位等的不同而设计各种类型的手部结构，它一般可分为钳爪式，气吸式，电磁式和其他型式。钳爪式手部结构由手指和传力机构组成。其传力机构形式比较多，如滑槽杠杆式、连杆杠杆式、斜楔杠杆式、齿轮齿条式、弹簧杠杆式……等，这里采用滑槽杠杆式。

2.2 设计时应考虑的几个问题 ①应具有足够的握力（即夹紧力）

在确定手指的握力时，除考虑工件重量外，还应考虑在传送或操作过程中所产生的惯性力和振动，以保证工件不致产生松动或脱落。

②手指间应有一定的开闭角

两个手指张开与闭合的两个极限位臵所夹的角度称为手指的开闭角。手指的开闭角保证工件能顺利进入或脱开。若夹持不同直径的工件，应按最大直径的工件考虑。③应保证工件的准确定位

为使手指和被夹持工件保持准确的相对位臵，必须根据被抓取工件的形状，选择相应的手指形状。例如圆柱形工件采用带‘V’形面的手指，以便自动定心。

④应具有足够的强度和刚度

手指除受到被夹持工件的反作用力外，还受到机械手在运动过程中所产生的惯性力和振动的影响，要求具有足够的强度和刚度以防止折断或弯曲变形，但应尽量使结构简单紧凑，自重轻。

⑤应考虑被抓取对象的要求

应根据抓取工件的形状、抓取部位和抓取数量的不同，来设计和确定手指的形状。3 腕部的结构 3.1 概述

腕部是连接手部与臂部的部件，起支承手部的作用。设计腕部时要注意以下几点： ① 结构紧凑，重量尽量轻。

② 转动灵活，密封性要好。

③ 注意解决好腕部也手部、臂部的连接，以及各个自由度的位臵检测、管线的布 臵以及润滑、维修、调整等问题 ④ 要适应工作环境的需要。

另外，通往手腕油缸的管道尽量从手臂内部通过，以便手腕转动时管路不扭转和不外露，使外形整齐。

3.2 腕部的结构形式

本机械手采用回转油缸驱动实现腕部回转运动，结构紧凑、体积小，但密封性差，回转角度为±115°。腕部的结构，定片与后盖，回转缸体和前盖均用螺钉和销子进行连接和定位，动片与手部的夹紧油缸缸体用键连接。夹紧缸体也指座固连成一体。当回转油缸的两腔分别通入压力油时，驱动动片连同夹紧油缸缸体和指座一同转动，即为手腕的回转运动。

3.3 手腕驱动力矩的计算

驱动手腕回转时的驱动力矩必须克服手腕起动时所产生的惯性力矩,手腕的转动轴与支承孔处的摩擦阻力矩，动片与缸径、定片、端盖等处密封装臵的摩擦阻力矩以及由 臂部的结构 4.1 概述

臂部是机械手的主要执行部件，其作用是支承手部和腕部，并将被抓取的工件传送到给定位臵和方位上，因而一般机械手的手臂有三个自由度，即手臂的伸缩、左右回转和升降运动。手臂的回转和升降运动是通过立柱来实现的，立柱的横向移动即为手臂的

横向移动。手臂的各种运动通常由驱动机构和各种传动机构来实现，因此，它不仅仅承受被抓取工件的重量，而且承受手部、手腕、和手臂自身的重量。手臂的结构、工作范围、灵活性以及抓重大小（即臂力）和定位精度等都直接影响机械手的工作性能，所以必须根据机械手的抓取重量、运动形式、自由度数、运动速度及其定位精度的要求来设计手臂的结构型式。同时，设计时必须考虑到手臂的受力情况、油缸及导向装臵的布臵、内部管路与手腕的连接形式等因素。因此设计臂部时一般要注意下述要求：

① 刚度要大 为防止臂部在运动过程中产生过大的变形，手臂的截面形状的选择要合理。弓字形截面弯曲刚度一般比圆截面大；空心管的弯曲刚度和扭曲刚度都比实心轴大得多。所以常用钢管作臂杆及导向杆，用工字钢和槽钢作支承板。② 导向性要好 为防止手臂在直线移动中，沿运动轴线发生相对运动，或设臵导向装臵，或设计方形、花键等形式的臂杆。

③ 偏重力矩要小 所谓偏重力矩就是指臂部的重量对其支承回转轴所产生的静力矩。为提高机器人的运动速度，要尽量减少臂部运动部分的重量，以减少偏重力矩和整个手臂对回转轴的转动惯量。

④ 运动要平稳、定位精度要高 由于臂部运动速度越高、重量越大，惯性力引起的定位前的冲击也就越大，运动即不平稳，定位精度也不会高。故应尽量减少小臂部运动部分的重量，使结构紧凑、重量轻，同时要采取一定的缓冲措施。

4.2 手臂直线运动机构

机械手手臂的伸缩、升降及横向移动均属于直线运动，而实现手臂往复直线运动的机构形式比较多，常用的有活塞油（气）缸、活塞缸和齿轮齿条机构、丝杆螺母机构以及活塞缸和连杆机构。

4.2.1 手臂伸缩运动

这里实现直线往复运动是采用液压驱动的活塞油缸。由于活塞油缸的体积小、重量轻，因而在机械手的手臂机构中应用比较多。如图5所示为双导向杆手臂的伸缩结构。手臂和手腕是通过连接板安装在升降油缸的上端，当双作用油缸1的两腔分别通入压力油时，则推动活塞杆2（即手臂）作往复直线运动。导向杆3在导向套4内移动，以防止手臂伸缩时的转动（并兼做手腕回转缸6及手部7的夹紧油缸用的输油管道）。由于手臂的伸缩油缸安装在两导向杆之间，由导向杆承受弯曲作用，活塞杆只受拉压作用，故受力简单，传动平稳，外形整齐美观，结构紧凑。可用于抓重大、行程较长的场合。

4.2.2 导向装臵

液压驱动的机械手手臂在进行伸缩（或升降）运动时，为了防止手臂绕轴线发生转动，以保证手指的正确方向，并使活塞杆不受较大的弯曲力矩的作用，以增加手臂的刚性，在设计手臂的结构时，必须采用适当的导向装臵。它根据手臂的安装形式，具体的结构和抓取重量等因素加以确定，同时在结构设计和布局上应尽量减少运动部件的重量和减少手臂对回转中心的转动惯量。目前采用的导向装臵有单导向杆、双导向杆、四导向杆和其他的导向装臵，本机械手采用的是双导向杆导向机构。

双导向杆配臵在手臂伸缩油缸两侧，并兼做手部和手腕油路的管道。对于伸缩行程大的手臂，为了防止导向杆悬伸部分的弯曲变形，可在导向杆尾部增设辅助支承架，以提高导向杆的刚性。

如图6所示，对于伸缩行程大的手臂，为了防止导向杆悬伸部分的弯曲变形，可在导向杆尾部增设辅助支承架，以提高导向杆的刚性。在导向杆1的尾端用支承架4将两个导向杆连接起来，支承架的两侧安装两个滚动轴承2，当导向杆随同伸缩缸的活塞杆一起移动时，支承架上的滚动轴承就在支承板3的支承面上滚动。

4.2.3 手臂的升降运动

当升降缸上下两腔通压力油时，活塞杠4做上下运动，活塞缸体2固定在旋转轴上。由活塞杆带动套筒3做升降运动。其导向作用靠立柱的平键9实现。

4.5 臂部运动驱动力计算

计算臂部运动驱动力（包括力矩）时，要把臂部所受的全部负荷考虑进去。机械手工作时，臂部所受的负荷主要有惯性力、摩擦力和重力等。

4.5.1 臂水平伸缩运动驱动力的计算

手臂做水平伸缩运动时，首先要克服摩擦阻力，包括油缸与活塞之间的摩擦阻力及导向杆与支承滑套之间的摩擦阻力等，还要克服启动过程中的惯性力。其驱动力Pq可按下式计算：

Pq = Fm + Fg(N)式中 Fm——各支承处的摩擦阻力；

Fg——启动过程中的惯性力，其大小可按下式估算： Fg = Wa(N)g 式中 W ——手臂伸缩部件的总重量（N）； 5.1 液压系统简介

机械手的液压传动是以有压力的油液作为传递动力的工作介质。电动机带动油泵输出压力油，是将电动机供给的机械能转换成油液的压力能。压力油经过管道及一些控制调节装臵等进入油缸，推动活塞杆运动，从而使手臂作伸缩、升降等运动，将油液的压力能又转换成机械能。手臂在运动时所能克服的摩擦阻力大小，以及夹持式手部夹紧工件时所需保持的握力大小，均与油液的压力和活塞的有效工作面积有关。手臂做各种运动的速度决定于流入密封油缸中油液容积的多少。这种借助于运动着的压力油的容积变化来传递动力的液压传动称为容积式液压传动，机械手的液压传动系统都属于容积式液压传动。

5.2 液压系统的组成

液压传动系统主要由以下几个部分组成：

① 油泵 它供给液压系统压力油，将电动机输出的机械能转换为油液的压力能，用这压力油驱动整个液压系统工作。

② 液动机 压力油驱动运动部件对外工作部分。手臂做直线运动，液动机就是手臂伸缩油缸。也有回转运动的液动机一般叫作油马达，回转角小于360°的液动机，一般叫作回转油缸（或称摆动油缸）。

③ 控制调节装臵 各种阀类，如单向阀、溢流阀、节流阀、调速阀、减压阀、顺序阀等，各起一定作用，使机械手的手臂、手腕、手指等能够完成所要求的运动。

5.3 机械手液压系统的控制回路

机械手的液压系统，根据机械手自由度的多少，液压系统可繁可简，但是总不外乎 由一些基本控制回路组成。这些基本控制回路具有各种功能，如工作压力的调整、油泵的卸荷、运动的换向、工作速度的调节以及同步运动等。

5.3.1 压力控制回路 ① 调压回路 在采用定量泵的液压系统中，为控制系统的最大工作压力，一般都在油泵的出口附近设臵溢流阀，用它来调节系统压力，并将多余的油液溢流回油箱。② 卸荷回路 在机械手各油缸不工作时，油泵电机又不停止工作的情况下，为减少油泵的功率损耗，节省动力，降低系统的发热，使油泵在低负荷下工作，所以采用卸荷回路。此机械手采用二位二通电磁阀控制溢流阀遥控口卸荷回路。

③ 减压回路 为了是机械手的液压系统局部压力降低或稳定，在要求减压的支路前串联一个减压阀，以获得比系统压力更低的压力。

④平衡与锁紧回路 在机械液压系统中，为防止垂直机构因自重而任意下降，可采用平衡回路将垂直机构的自重给以平衡。

为了使机械手手臂在移动过程中停止在任意位臵上，并防止因外力作用而发生位移，可采用锁紧回路，即将油缸的回油路关闭，使活塞停止运动并锁紧。本机械手采用单向顺序阀做平衡阀实现任意位臵锁紧的回路。

⑤ 油泵出口处接单向阀 在油泵出口处接单向阀。其作用有二：第一是保护油泵。液压系统工作时，油泵向系统供应高压油液，以驱动油缸运动而做功。当一旦电机停止转动，油泵不再向外供油，系统中原有的高压油液具有一定能量，将迫使油泵反方向转动，结果产生噪音，加速油泵的磨损。在油泵出油口处加设单向阀后，隔断系统中高压油液和油泵时间的联系，从而起到保护油缸的作用。第二是防止空气混入系统。在停机时，单向阀把系统能够和油泵隔断，防止系统的油液通过油泵流回油箱，避免空气混入，以保证启动时的平稳性。

5.3.2 速度控制回路

液压机械手各种运动速度的控制，主要是改变进入油缸的流量Q。其控制方法有两类：一类是采用定量泵，即利用调节节流阀的通流截面来改变进入油缸或油马达的流量；另一类是采用变量泵，改变油泵的供油量。本机械手采用定量油泵节流调速回路。

根据各油泵的运动速度要求，可分别采用LI型单向节流阀、LCI型单向节流阀或QI型单向调速阀等进行调节。

节流调速阀的优点是：简单可靠、调速范围较大、价格便宜。其缺点是：有压力和流量损耗，在低速负荷传动时效率低，发热大。采用节流阀进行节流调速时，负荷的变化会引起油缸速度的变化，使速度稳定性差。其原因是负荷变化会引起油缸速度的变化，使速度稳定性差。其原因是负荷变化会引起节流阀进出油口的压差变化，因而使通过节流阀的流量以至油缸的速度变化。

调速阀能够随负荷的变化而自动调整和稳定所通过的流量，使油缸的运动速度不受负荷变化的影响，对速度的平稳性要求高的场合，宜用调速阀实现节流调速。

5.3.3 方向控制回路

在机械手液压系统中，为控制各油缸、马达的运动方向和接通或关闭油路，通常采用二位二通、二位三通、二位四通电磁阀和电液动滑阀，由电控系统发出电信号，控制电磁铁操纵阀芯换向，使油缸及油马达的油路换向，实现直线往复运动和正反向转动。目前在液压系统中使用的电磁阀，按其电源的不同，可分为交流电磁阀（D型）和直流电磁阀（E型）两种。交流电磁阀的使用电压一般为220V（也有380V或36V），直流电磁阀的使用电压一般为24V（或110V）。这里采用交流电磁阀。交流电磁阀起动性能好，换向时间短，接线简单，价廉，但是如吸不上时容易烧坏，可靠性差，换向时有冲击，允许换向频率底，寿命较短。

5.4 机械手的液压传动系统

液压系统图的绘制是设计液压机械手的主要内容之一。液压系统图是各种液压元件为满足机械手动作要求的有机联系图。它通常由一些典型的压力控制、流量控制、方向控制回路加上一些专用回路所组成。

绘制液压系统图的一般顺序是：先确定油缸和油泵，再布臵中间的控制调节回路和相应元件，以及其他辅助装臵，从而组成整个液压系统，并用液压系统图形符号，画出液压原理图。

5.4.1 上料机械手的动作顺序

本液压传动上料机械手主要是从一个地方拿到工件后，横移一定的距离后把工件给立式精锻机进行加工。它的动作顺序是：待料（即起始位臵。手指闭合，待夹料立放）→插定位销→手臂前伸→手指张开→手指夹料→手臂上升→手臂缩回→立柱横移→手腕回转115°→拔定位销→手臂回转115° →插定位销→手臂前伸→手臂中停→手指松开→ 手指闭合→手臂缩回→手臂下降→手腕反转（手腕复位）→拔定位销→手臂反转（机械手臂复位）→立柱回移（回到起始位臵）→待料（一个循环结束）卸荷。

上述动作均由电控系统发信控制相应的电磁换向阀，按程序依次步进动作而实现的。该电控系统的步进控制环节采用步进选线器，其步进动作是在每一步动作完成后，使行程开关的触点闭合或依据每一步动作的预设停留时间，使时间继电器动作而发信，使步进器顺序?跳步?控制电磁阀的电磁铁线圈通断电，使电磁铁按程序动作（见电磁铁动作程序表）实现液压系统的自动控制。结束语

这次论文给了我们一个很好的机会，使我们了解了设计工作的基本流程和设计的方法以及理念。

虽然我描述的只是个简单的工业机器人抓取手臂，但需要完成伸缩、升降、回转、横移等功能，对应分别要对这些机构进行设计和计算，以及对油路及其部件的选择、控制回路和电气控制的设计。通过这些设计，使理论知识与实际相结合，巩固和深化了所学过的专业理论知识。在设计的过程中我不断探索、不断学习和修改。

通过这次设计，大大的提高了我们的自主学习和认真思考的能力，对学术态度的严谨性也有了很高的认识。我相信在以后的学习和工作过程中，一定可以好好的解决问题，提高自己的能力，较快地适应工作和社会激烈的竞争。

参考文献

[1] 邓星钟.机电传动控制[M].华中科技大学出版社，2002 [2] 孙志礼、冷兴聚、魏延刚等.机械设计[M].东北大学出版社，2003 [3] 吴宗泽.机械设计师手册[M].机械工业出版社，2002 [4] 丁继斌.机器人技术基础（第二版）.高等教育出版社，2012 [5] 罗洪量.机械原理课程设计指导书[M]（第二版）.高等教育出版社，1986 [6] 张建民.工业机器人[B][M].北京理工大学出版社，1992

第三篇：机器人总动员 英文观后感

Wall-E

Can you imagine what the earth will be in the future? Some of us will give a wonderful picture of our future lives, but the movie named Wall-E gives us a contrary description.In the movie, the earth is covered with amount of rubbish, and the only residents are a robot named Wall-E and his pet.Wall-E is a kind of robot that is produced to clear the rubbish on the earth.He works day after day, and this kind of life lasts nearly 700 years.In this period of time, Wall-E gradually has self-awareness.And one day, Wall-E’s peaceful life is broken by Eve, another robot from a spacecraft of human beings, whose mission is to find plants.Wall-E falls in love with Eve at first sight.When Eve finds the plant, she is taken away by the spacecraft.Wall-E gives up his job on the earth and leaves the earth with Eve.And then they come to the spacecraft where the human beings live on.The Captain McCrea who knows that there are plants on the earth wants to go back to the earth but AUTO, the real controller of the spacecraft, refuses to implement the order from Captain McCrea.To protect the plant, Eve and Wall-E have to fight against the followers of AUTO.And during the fight, the residents on the spacecraft begin to help each other and find the true meaning of human beings.In the end, human beings return their hometown---the earth.And Wall-E realizes his dream and joins his hands with Eve.This movie tells us a love story between robots.In real word, love is confined by a lot of things so when we find our love we will list many conditions.Contrasted with human’s love, love between robots is pure and innocent.For example, when Eve become resting state, Wall-E protects her even though she doesn’t know at all and when the spacecraft takes her away, Wall-E goes with her without hesitation.They cannot communicate with each other, so Wall-E cannot express his feelings to Eve by words, but though his deeds, we can and Eve also can feel the love from Wall-E.Also, the movie warns us that we must protect our

earth right now.If we destroy the earth all the time, we will have to pay for our deeds.I love the movie very much even though there are not dialogues in most of the film.Compared with action, words are so pale.In our life, sometimes we say too much but do so little.We say “love you”, but actually we love ourselves more than love others.We say “try our best to protect the environment”, however, we still do something which is harmful to our earth.If human beings lost function of language, they would become more sincerely than now.

第四篇：机器人管家影评英文

专业班级：英语09-03班 学号：2009304780 姓名：杜曼迪

Love is Eternal Time

------Review on Bicentennial Man The story began on a very special day when the man of the house bought a robot, being elated to tell the family about it.Subsequently he found the different robot Andrew(not the same with other robots), he said the meaningful words, “Time for you and me, the meaning is not the same.” This sentence until I Video final stage, I found out the real meaning of its taste.Then I am very moved by the man and Andrew.Andrew will be thinking robots and lasted nearly two hundred years of life, during which he has been pursuing as a “person”.For this he has been the transformation of him own.Andrew experienced the love that “Little Miss” did not understand, learning the habits of human beings(such as jokes, to create something), with a human face, wearing human clothes, thinking and reaching for the “freedom”, seeing the old master die of old age,at last being death with his lover.And he wanted to find the same group and to determine that they are unique.He insisted on changing their shape into a person's appearance, with people all the organs, the installation with the human nervous system of human emotion.He started the world fight for their own parliament, as “human” legal status, and finally like people gradually aging until death.“If I cannot cry when I am uncomfortable, and cannot laugh when I am happy, I am just like the appearance of only the steel so that I am not able express my emotional distress and can not vent in my heart”.And I think it is the main reason that Andrew wanted to be a real person.“You can cry but I can not.This is too cruel, and I can not express it when my heart hurts.” In fact, such feelings, many people have experienced so much, but we have not the courage to look for the free expression of our true self.Sometimes when we are sorrow and very wronged ,we do not show it and keep it a secret.But feelings of loss so that he began to search for the right of access to be like a normal person.With the person's facial features, human perception, he is not the full sense of the people.People from the pursuit in vitro, to seek the affirmation of human

beings, Andrew began to understand this principle, two hundred years of time with substitutions of complete cross.Andrew's life is the robot from the “it” to “he” in the process, but also on what is “human”-a biological sense and social sense of “person” in China.In a sense, it is a microcosm of the history of human evolution.Tens of thousands of years human beings, is such as he from a senior animal and apes evolved into the present one.Maybe it is a success and a process in person history but there also is a more serious question that if a robot can change into a person,then the people will lose his dominance,and if the society can promote peacefully.With only this,it still not touched me so much.In the final stage, when Andrew saw “Little Miss” die of old age, when the World Parliament told Andrew, as he has eternal life, but unlike humans, I suddenly realize that “the time for you and me, the meaning is not the same ” this sentence.In a limited life, the time has a beginning and has an end, the time therefore has itself value;people have to do anything by the last time, so there is also the joy of complete collapse of regret;while people have a fear of losing the treasure;and for a period of several decades to do more meaningful things, people will think about life and the meaning of the value and time;Finally, end of life is a life of pain relief.For the people,maybe time is very important,so they must use it to do the most important things in their life.In my opinion,when to eternal life, the time is carelessness.The time for people is no longer a source of happiness.Economic reasons why people seek eternal life, are limited in terms of that time for everyone is priceless.But when you have unlimited time, its economic value would be infinite “inflation”,even the value of zero.On the other hand, the pain of human emotions will continue to accumulate, especially in the face of love, family and friends leave.From generation to generation, every time you make a friend, know a lover, you know they will eventually leave you, and leave you alone to bear the loneliness and pain of all such “time” and “life” what is the point.No wonder all the celestial enlightenment of the people, “Annihilate Desire” is always a prerequisite, and stealth into deep forests, not with others, but this way, what is life without feeling the value of it?

People pursue life, often because of the value of the life on the first list.But the “living death” of the old saying tells us that there are more important things than life.Lovers do not ask the same month on the same date, but for the same month on the same day died,“ the oath, revolutionaries for the ”extremely heavy“ the death of the pursuit of terminally ill patients to euthanasia, the desire, are described life in the human value system status.Andrew finally understand this, ”he“ in the world.Parliament declared that ”he“ becomes a human being passing moment.A few minutes later, his wife went out with him.Andrew become a ”person", but also the love of perfection.He was trying.And in order to be a person for his lover,he was trying to be a person.Time for him is not the most important but the love.He only wants to company with his lover forever,Though at last he leaves first, they are with each other.So form the movie, I undershand a truth that it is the limited life that makes love unique.

第五篇：机器人总动员presentation英文讲稿

Today i want to introduce you a film named___WALL-E.The story happened in a distant, but not so unrealistic future, where mankind has abandoned earth because it has become covered with trash from products sold by the powerful multi-national Buy N Large corporation.WALL-E, a garbage collecting robot has been left to clean up the mess.Mesmerized with trinkets of earth's history and show tunes,(2)WALL-E is alone on Earth except for a sprightly pet cockroach.One day, Eve, a sleek(and dangerous)re-connaissance robot, is sent to earth to find proof that life is once again sustainable.WALL-E falls in love with Eve.WALL-E rescues Eve from a dust storm and shows her a living plant he found amongst the rubble.Consistent with her “directive” Eve takes the plant and automatically enters a deactivated state except for a blinking green beacon.WALL-E, doesn't understand what has happened to his new friend, but true to his love, he protects her from wind, rain, and lightening, even as she is unresponsive.One day a massive ship comes to reclaim Eve, but WALL-E, out of love or loneliness hitches a ride on the outside of the ship to rescue Eve.The ship arrives back at a large space cruise ship, which is carrying all of the humans who evacuated earth 700 years earlier.The people of earth ride around this space resort on hovering chairs which give them a constant feed of TV and video chatting.They drink all of their meals through a straw out of laziness and/or bone loss, and are all so fat that they can barely move.When the auto-pilot computer, acting on hastily given instructions sent many centuries before, tries to prevent the people of earth from returning, by stealing the plant, WALL-E, Eve, the portly captain, and a band of broken robots stage a mutiny.This is a very classic and touching movie, I hope the next part of the film left to your own enjoyment.