5. Истинны или ложны следующие высказывания
The actuator is the part of a robot that coordinates all movements of the mechanical system.
The commands issued by the controller activate the motion control mechanism.
The controller has no hierarchical control.
The only way to identify a manipulator is by its method of control .
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.
Linear actuators provide motion provide rotation, moving their loads in an arc or circle.
Industrial robots most commonly use hydraulic power.
If a robot contains hydraulic actuators then hydraulic pump is used to convert electrical power into hydraulic energy
6. Составьте пары близких по значению слов
7. Переведите следующие слова и словосочетания
immediate environment, monitoring devices, intermediate, trajectory, actuation, explosion, circular, rigid, maneuvering
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.
.An actuator is a motor or valve that converts power into robot movement.
The manipulator is the arm of the robot which must move materials, parts, tools, or special devices through various motions to provide useful work.
The manipulator is made up of a series of segments and joints much like those found in the human arm., a tachometer is used to monitor acceleration and deceleration of the manipulator’s movements.
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.
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.
Соедините части предложений, чтобы получились истинные высказывания
controller is suggested to control robots in a flexible manufacturing system.
Controllers contain software giving robots the intelligence to perform complex tasks and provide a means for the robot to interact with the physical environment.
The controller receives input from the immediate environment through various sensors.
.An actuator is a motor or valve that converts power into robot movement.
The manipulator is the arm of the robot which must move materials, parts, tools, or special devices through various motions to provide useful work.
The manipulator is made up of a series of segments and joints much like those found in the human arm.,
A tachometer is used to monitor acceleration and deceleration of the manipulator’s movements.
The end effector 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.
Controllers contain software giving robots the intelligence to perform complex tasks and provide a means for the robot to interact with the physical environment.
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
These languages permit a kind of robot control known as hierarchical control, in which decision making by the robot takes place on several levels.
We have constructed a physical simulation of a walking robot in which there are two levels of the hierarchy.
Internal 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.
The main characteristic of an open software structure for robotics applications is the interface that relates the components of the robot with the basic internal structure.
The robotic controller is the “brain” of the industrial robot. In the future, controllers with artificial intelligence, or AI could allow robots to think on their own, even program themselves.
The end-effector is the "hand" connected to the robot's arm.
Robotic end effectors come in many shapes and sizes and perform many tasks.
Choosing the right end effector for the task is a crucial step in robotic automation.
Each joint usually represent one degree of freedom.
The robot control typically has a single scheme for accelerating or decelerating the robot joints when speed The most interesting robot behaviors were observed in deceleration.
An actuator is a special type of transducer (a device that converts energy from one form to another). Specifically, actuators convert the stored energy in a robotic system into movement -- that is, they convert stored energy into kinetic energy.
Actuators mimic the action of human muscle to move parts of the robot's body.
Work envelope is the set of points representing the maximum extent of reach of the robot hand or working tool in all directions. Workenvelope describes how the robot is constrained by its mechanical systems configuration.
Clear understanding of the work envelope 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.
A robotic link is the rigid component of the robot manipulator.
Every time the robot stops to change the end-of-arm tool, it is not adding value to the process and increases the cycle time.
The following tools are considered "must-haves" for any robot workshop.
Robotic arms are devices which emulate the function of a biological arm: they can extend, retract and frequently have something attached to the end to manipulate objects or serve other functions.
8. controller is suggested to control robots in a flexible manufacturing system.
Controllers contain software giving robots the intelligence to perform complex tasks and provide a means for the robot to interact with the physical environment.
The controller receives input from the immediate environment through various sensors.
.An actuator is a motor or valve that converts power into robot movement.
The manipulator is the arm of the robot which must move materials, parts, tools, or special devices through various motions to provide useful work.
The manipulator is made up of a series of segments and joints much like those found in the human arm.,
A tachometer is used to monitor acceleration and deceleration of the manipulator’s movements.
The end effector 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 controller is the part of a robot that coordinates all movements of the mechanical system.
The commands issued by the controller activate the motion control mechanism
The controller has three levels of hierarchical control.
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.
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.
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.
A robot containing hydraulic actuators requires the conversion of electrical power into hydraulic energy through the use of an electric, motor-driven, hydraulic pump.
The actuator is the part of a robot that coordinates all movements of the mechanical system.
The commands issued by the controller activate the motion control mechanism.
The controller has no hierarchical control.
The only way to identify a manipulator is by its method of control .
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.
Linear actuators provide motion provide rotation, moving their loads in an arc or circle.
Industrial robots most commonly use hydraulic power.
If a robot contains hydraulic actuators then hydraulic pump is used to convert electrical power into hydraulic energy
immediate environment , monitoring devices, intermediate, trajectory, actuation , explosion, circular, rigid maneuvering
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.
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.
Соедините части предложений, чтобы получились истинные высказывания
controller is suggested to control robots in a flexible manufacturing system.
Controllers contain software giving robots the intelligence to perform complex tasks and provide a means for the robot to interact with the physical environment.
The controller receives input from the immediate environment through various sensors.
.An actuator is a motor or valve that converts power into robot movement.
The manipulator is the arm of the robot which must move materials, parts, tools, or special devices through various motions to provide useful work.
The manipulator is made up of a series of segments and joints much like those found in the human arm.,
A tachometer is used to monitor acceleration and deceleration of the manipulator’s movements.
The end effector 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.
Controllers contain software giving robots the intelligence to perform complex tasks and provide a means for the robot to interact with the physical environment.
11. Вставьте пропущенные слова: over, below, under, above
They have got a nice little house above the river.
There is cloud over the western part of the country.
He put on a coat over his shirt.
The plane flew over the hills.
The temperature is five degrees above zero.
The boy is well above average in intelligence.
There were over hundred people at the venue.
She was booked for driving at over 120 mph.
You have to be over 18 to see that film.
Lay the blanket over his legs.
He’s over two meters tall.
The temperatures in summer is above zero
I felt that he was hiding something under his jacket.
I felt that he was hiding something under his jacket.
We could find something below the surface of the water.
This part of the country is below sea level.
Children under the age of twelve are not supposed to watch this film.
You are under arrest.
The bridge is still under construction.
Put your signature below.
The climbers stopped 200m below the top of the mountain.
The temperature is ten degrees below zero.
She is below average in intelligence.