ProfessionalEnglishofIndustrialRobots工業機器人專業英語Unit2RobotkinematicsandcharacteristicsLesson’sactivity1.WhatwillIlearninthischapter？

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

FORLISTENINGPreparation

Lesson’sactivity2.HowdoIPass?

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

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

[?w??kpi?s]n.工件；軋件；工件壁厚payload

[?pe?l??d]n.（導彈、火箭等的）有效載荷，有效負荷overload

[???v??l??d]v.過載，超載axis

[??ks?s]n.軸，軸線；對稱中心線，對稱軸motion

[?m???n]n.運動，移動；v.做動作motion

[?m???n]n.運動，移動；v.做動作wrist

[r?st]n.手腕，腕關節

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

[k?m?p??n?nt]n.部件，組成部分regulation[?reɡju?le??n]n.規章制度，規則invert

[?n?v??t]

v.使倒置，使反轉coordinate[k?????d?ne?t]

v.協調，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

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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.FORLISTENING3.2Par