Б ) Составьте предложения со следующими словами ( глагол-существительное)
position , measure, monitor , end, result , supply, pump, form
Соедините части предложений ( некоторым началам предложений соответствует несколько окончаний)
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9. Вставьте пропущенные слова controller(2), actuator(s)(2), joint, work envelope(3), deceleration (decelerating), retract, end-effector(s) (3), hierarchy (hierarchical ), tool(2) , internal (2), link
1. These languages permit a kind of robot control known as … control, in which decision making by the robot takes place on several levels. 2. We have constructed a physical simulation of a walking robot in which there are two levels of the …. 3. …gripping is used when the part geometry will allow and when the process to be performed need access to the outside surface of the part grasped. 4. The main characteristic of an open software structure for robotics applications is the interface that relates the components of the robot with the basic … structure. 5. The robotic… is the “brain” of the industrial robot. 6. In the future, … with artificial intelligence, or AI could allow robots to think on their own, even program themselves. 7. The… is the "hand" connected to the robot's arm. Robotic… come in many shapes and sizes and perform many tasks. 8. Choosing the right …for the task is a crucial step in robotic automation. 9. Each … usually represent one degree of freedom. 10. The robot control typically has a single scheme for accelerating or… the robot joints when speed The most interesting robot behaviors were observed in …. 11. An… is a special type of transducer (a device that converts energy from one form to another). 12. Specifically, actuators convert the stored energy in a robotic system into movement -- that is, they convert stored energy into kinetic energy. … mimic the action of human muscle to move parts of the robot's body. 13. … is the set of points representing the maximum extent of reach of the robot hand or working tool in all directions. 14.… describes how the robot is constrained by its mechanical systems configuration. 15. Clear understanding of the … of a robot to be used is important because all interaction with other machines, parts, and processes only takes place within this volume of space. 16. A robotic… is the rigid component of the robot manipulator. 17. Every time the robot stops to change the end-of-arm … , it is not adding value to the process and increases the cycle time. 18. The following …are considered "must-haves" for any robot workshop. 19. Robotic arms are devices which emulate the function of a biological arm: they can extend, … and frequently have something attached to the end to manipulate objects or serve other functions.
10. Вставьте пропущенные слова: over, below, under, above
They have got a nice little house … the river. 2. There is cloud …the western part of the country. 3. He put on a coat … his shirt. 4. The plane flew …the hills. 5. The temperature is five degrees… zero. 6. The boy is well …average in intelligence. 7. There were …hundred people at the venue. 8. She was booked for driving at …120 mph. 9. You have to be …18 to see that film. 10. Lay the blanket …his legs. 11. He’s over two meters tall. 12. I felt that he was hiding something …his jacket. 13. I felt that he was hiding something… his jacket. 14. We could find something …the surface of the water. 15. This part of the country is …sea level. 16. Children… the age of twelve are not supposed to watch this film. 17. You are …arrest. 18. The bridge is still …construction. 19. Put your signature…. 20.The climbers stopped 200m …the top of the mountain. 21. The temperature is ten degrees below zero. 22. She is below average in intelligence.
13. Выполните письменный перевод текста на русский язык
Robotic Systems
What is an Industrial Robot? An industrial robot is a programmable, multi-functional manipulator designed to move materials, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks.
An industrial robot consists of a number of rigid links connected by joints of different types, controlled and monitored by a computer.
Power sources for robots
1. Hydraulic drive: gives a robot great speed and strength. These systems can be designed to actuate linear or rotational joints. The main disadvantage of a hydraulic system is that it occupies floor space in addition to that required by the robot.
2. Electric drive: compared with a hydraulic system, an electric system provides a robot with less speed and strength. Accordingly, electric drive systems are adopted for smaller robots. However, robots supported by electric drive systems are more accurate, exhibit better repeatability, and are cleaner to use.
3. Pneumatic drive: are generally used for smaller robots. These robots, with fewer degrees of freedom, carry out simple pick-and-place material handling operations.
15. Прочитайте и перескажите
The controller is the "brain" of the industrial robotic arm and allows the parts of the robot to operate together. It works as a computer and allows the robot to also be connected to other systems. The robotic arm controller runs a set of instructions written in code called a program. The program is inputted with a teach pendant. Many of today's industrial robot arms use an interface that resembles or is built on the Windows operating system.
Industrial robot arms can vary in size and shape. The industrial robot arm is the part that positions the end effector. With the robot arm, the shoulder, elbow, and wrist move and twist to position the end effector in the exact right spot. Each of these joints gives the robot another degree of freedom. A simple robot with three degrees of freedom can move in three ways: up & down, left & right, and forward & backward. Many industrial robots in factories today are six axis robots.
The end effector connects to the robot's arm and functions as a hand. This part comes in direct contact with the material the robot is manipulating. Some variations of an effector are a gripper (зажим), a vacuum pump, magnets, and welding torches. Some robots are capable of changing end effectors and can be programmed for different sets of tasks.
The drive is the engine or motor that moves the links into their designated positions. The links are the sections between the joints. Industrial robot arms generally use one of the following types of drives: hydraulic, electric, or pneumatic. Hydraulic drive systems give a robot great speed and strength. An electric system provides a robot with less speed and strength. Pneumatic drive systems are used for smaller robots that have fewer axes of movement. Drives should be periodically inspected for wear and replaced if necessary.
Sensors allow the industrial robotic arm to receive feedback about its environment. They can give the robot a limited sense of sight and sound. The sensor collects information and sends it electronically to the robot controlled. One use of these sensors is to keep two robots that work closely together from bumping into each other. Sensors can also assist end effectors by adjusting for part variances. Vision sensors allow a pick and place robot to differentiate between items to choose and items to ignore.
16. Переведите с английского языка на русский.
Промышленный робот состоит из пяти основных частей: роботизированная рука, контроллер, привод, сенсор и рабочий орган. Все действия робота координирует чип - контроллер. Роботизированная рука перемещает рабочий орган. Подвижность руки обеспечивает привод - электрический двигатель. С помощью сенсора робот распознаёт объект с которым он будет работать. Промышленные роботы - это автоматические манипуляторы, которыми управляют при помощи программ. Они выполняют рабочие операции со сложными перемещениями в пространстве.
http://wwwme.nchu.edu.tw/~CIM/courses/Flexible%20Manufacturing%20Systems/Microsoft%20Word%20-%20Chapter9F-Robotic%20Systems.pdf
http://www.nuigalway.ie/staff-sites/david_osullivan/documents/unit_6_industrial_robotics.pdf
Unit 8
Parts of a Robot
Robots consist of a number of components that work together: the controller, the manipulator, an end effector, a power supply, and a means for programming.
Controller
The controller is the part of a robot that coordinates all movements of the mechanical system. It also receives input from the immediate environment through various sensors. The heart of the robot’s controller is generally a microprocessor linked to input/output and monitoring devices.
The commands issued by the controller activate the motion control mechanism, consisting of various controllers, amplifiers, and actuators. An actuator is a motor or valve that converts power into robot movement. This movement is initiated by a series of instructions, called a program, stored in the controller’s memory.
The controller has three levels of hierarchical control. Hierarchical control assigns levels of organization to the controllers within a robotic system. Each level sends control signals to the level below and feedback signals to the level above. The levels become more elemental as they progress toward the actuator.
Each level is dependent on the level above it for instructions.
The three levels are:
• Level I—Actuator Control. The most elementary level at which separate movements of the robot along various planes, such as the X, Y, and Z axes, are controlled.
• Level II—Path Control. The path control (intermediate) level coordinates the separate movements along the planes determined in Level I into the desired trajectory or path.
• Level III—Main Control. The primary function of this highest control level is to interpret the written instructions from the human programmer regarding the tasks required. The instructions are then combined with various environmental signals and translated by the controller into the more elementary instructions that Level II can understand.
Manipulator
The manipulator consists of segments that may be jointed and that move about, allowing the robot to do work. The manipulator is the arm of the robot which must move materials, parts, tools, or special devices through various motions to provide useful work.
A manipulator can be identified by method of control, power source, actuation of the joints, and other factors. These factors help identify the best type of robot for the task at hand. For example, you would not use an electric robot in an environment where combustible fumes exist and a spark could cause an explosion.
The manipulator is made up of a series of segments and joints much like those found in the human arm. Joints connect two segments together and allow them to move relative to one another. The joints provide either linear (straight line) or rotary (circular) movement.
The muscles of the human body supply the driving force that moves the various body joints. Similarly, a robot uses actuators to move its arm along programmed paths and then to hold its joints rigid once the correct position is reached. There are two basic types of motion provided by actuators: linear and rotary. Linear actuators provide motion along a straight line; they extend or retract their attached loads. Rotary actuators provide rotation, moving their loads in an arc or circle. Rotary motion can be converted into linear motion using a lead screw or other mechanical means of conversion.
A tachometer is a device used to measure the speed of an object. In the case of robotic systems, a tachometer is used to monitor acceleration and deceleration of the manipulator’s movements.
End Effector
The end effector is the robot’s hand, or the end-of-arm tooling on the robot. It is a device attached to the wrist of the manipulator for the purpose of grasping, lifting, transporting, maneuvering, or performing operations of a robot system. The robot’s performance is a direct result of how well the end effector meets the task requirements. The area within reach of the robot’s end effector is called its work envelope.
Power Supply
The power supply provides the energy to drive the controller and actuators. It may convert ac voltage to the dc voltage required by the robot’s internal circuits, or it may be a pump or compressor providing hydraulic or pneumatic power. The three basic types of power supplies are electrical, hydraulic, and pneumatic.
The most common energy source available, where industrial robots are used, is electricity. The second most common is compressed air, and the least common is hydraulic power. These primary sources of energy must be converted into the form and amount required by the type of robot being used. The electronic part of the control unit, and any electric drive actuator, requires electrical power. A robot containing hydraulic actuators requires the conversion of electrical power into hydraulic energy through the use of an electric, motor-driven, hydraulic pump. A robot with pneumatic actuators requires compressed air, which is usually supplied by a compressor driven by an electric motor.
at hand