Unit 9 Robotics
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Mode [məud] режим
Proprietary [prə'praɪət(ə)rɪ] патентованный
Teach pendant ['pendənt] подвесной пульт обучения (робота)
Degrees of freedom степени свободы
Axis ['æksiːz] ось, axes оси
Application [ˌæplɪ'keɪʃ(ə)n] применение, использование 2) приложение, прикладная программа
Traverse ['trævəs ], [-vɜːs] 1) а) прохождение, проезд, проход, пересечение б) путь, проход
Rotational вращательный
Swivel ['swɪv(ə)l] поворот
Radial радиальный
Flexibility [ˌfleksɪ'bɪlətɪ] переналаживаемость
Aeronautical [ˌɛərə'nɔːtɪk((ə)l)] воздухоплавательный; авиационный
Pitch [pɪʧ]) тангаж (угловое движение аппарата относительно главной поперечной оси инерции) ;
Yaw [jɔː] 1) отклонение от курса, 2) поворот (рабочего органа) вокруг вертикальной оси , 3) рыскание; отклонение от заданного направления движения , поворот в горизонтальной плоскости; поворот вокруг вертикальной оси 4) сгибание (манипулятора в запястье)
Track гусеница, транспортёр; конвейер (направляющее устройство)
Non-servo robot робот без сервосистемы
Servo исполнительный механизм
Sequence ['siːkwən(t)s] последовательность; ряд; очерёдность, порядок (следования)
Amplifier ['æmplɪfaɪə] усилитель
Maintain [meɪn'teɪn] 1) а) поддерживать, сохранять
Sophisticated [sə'fɪstɪkeɪtɪd] сложный, сложно устроенный ; современный, передовой
Obstruction [əb'strʌkʃ(ə)n] помеха, препятствие, преграда
Extension of robot радиус действия робота
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Robots are usually programmed by one of the following modes: online (or a ‘teach’ mode) and offline. Currently over 90% of robots are programmed using the teach method. This method uses a proprietary teach pendant (also called a teach box or handheld programmer), which allows trained personnel physically to lead the robot through the series of points that describe its desired path. The points are recorded by the controller for later use.
Degrees of Freedom
Degrees of freedom (DOF) refers to how many "axes" of movement your robot has.
The number of degrees of freedom defines the robot’s configuration. For example, many simple applications require movement along three axes: X, Y, and Z. The three degrees of freedom in the robot arm are the rotational traverse, the radial traverse, and the vertical traverse. The rotational traverse is movement on a vertical axis. This is the side-to-side swivel of the robot’s arm on its base. The radial traverse is the extension and retraction of the arm, creating in-and-out motion relative to the base. The vertical traverse provides up-and-down motion.
For applications that require more freedom, additional degrees can be obtained from the wrist, which gives the end effector its flexibility. The three degrees of freedom in the wrist have aeronautical names: pitch, yaw, and roll. The pitch, or bend, is the up-and-down movement of the wrist. The yaw is the side-to-side movement, and the roll, or swivel, involves rotation.
A robot requires a total of six degrees of freedom to locate and orient its hand at any point in its work envelope. Although six degrees of freedom are required for maximum flexibility, most applications require only three to five. When more degrees of freedom are required, the robot’s motions and controller design become more complex. Some industrial robots have seven or eight degrees of freedom. These additional degrees are achieved by mounting the robot on a track or moving base . This addition also increases the robot’s reach.
Although the robot’s freedom of motion is limited in comparison with that of a human, the range of movement in each of its joints is considerably greater. For example, the human hand has a bending range of only about 165 degrees.