3 сем учебники / тексты

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. 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. 20. The most interesting robot behaviors were observed in … .

11. Выполните письменный перевод текста на русский язык. Задайте вопросы так, чтобы выделенные слова были ответами на них.

Robotic Systems

What is an Industrial Robot? An industrial robot is a programmable, multifunctional 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.

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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.

12. 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.

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 and down, left and right, and forward and 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

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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.

13. Переведите с русского языка на английский

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.

14. Прочитайте текст и составьте к нему 10 вопросов

George Devol: A Life Devoted to Invention and Robots

George Devol was only 9 years old when the word "robot" first appeared, in 1921, introduced in Karel Capek's play R.U.R. (Rossum’s Universal Robots). The robots in the play had a human form and were manufactured in vats like beer. In contrast, the robots that Devol would invent decades later were electromechanical machines -- the first digitally operated programmable robotic arms -- and they would start a revolution in manufacturing that continues to this day.

Devol, who died August 11, 2011, at the age 99, was a prolific inventor and entrepreneur. His work led to the development of the first industrial robot, called Unimate, a precursor of the machines that now automate assembly lines all over the world. But the industrial robot was only one of his contributions. With over 40 patents under his belt, Devol spent his lifetime transforming ideas into real products.

Born into wealth in Louisville, Kentucky, in 1912, George Charles Devol, Jr. became interested in electricity and machines at an early age. He attended Riordan

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Prep and gained some practical experience helping run the school's electric light plant. But he didn't go to an engineering school upon graduation. He started a company.

It was a time when the age of electric motors and generators, control engineering, electrical transmission, and radio technology was in lift off. The first sound films, known as «talking pictures» or «talkies», cried for better sound integration, and Devol saw an opportunity. He used his experience with vacuum tubes, photocells, and circuits to form United Cinephone Corp., in 1932, trying to gain a position in film sound.

But the competition drove him to other pastures. Using the photocells and vacuum tubes he knew so well, he ended up creating one of the technological marvels of the modern world: the automatic door. He licensed the technology to a firm called Yale &

Towne, which commercialized it as the «Phantom Doorman» photoelectric door.

Devol went on to work with color printing presses and packaging machines, and eventually develop an early form of bar coding, and later, digital magnetic recording. He was moving ever closer to robots.

In 1939, Westinghouse displayed Electro the robot at the New York World’s

Fair. It was a large clanking, talking theatrical fulfillment of all those pulp and science fiction images that dominated the newsstands – some of which were read by Devol.

During the World War II period, Devol worked at Sperry Gyroscope, where he helped develop radar systems and microwave test equipment. Later he organized General Electronics Industries in Greenwich, Conn., which would become one of the largest producers of radar and counter-radar devices.

After the war, he worked on several other inventions. He was part of a team that developed the first microwave oven product, the Speedy Weeny, which automatically cooked and dispensed hotdogs.

In 1954, Devol applied for a patent for a device called the Programmed Article Transfer. Looking for an entrepreneurial partner, Devol found one, at a cocktail party, by the name of Joseph Engelberger, an executive with engineering degrees from Columbia University. Engelberger, who shared an enthusiasm for science fiction with Devol, took the transfer machine to his heart.

Their device morphed from «programmed article transfer» to «manipulator» to «robot». Devol and Engelberger made this decision to help improve their marketing opportunities. Selling the concept even with a working prototype was an

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uphill chore. But it paid off: The robot connection gave the project an extra dose of energy that helped it succeed.

The first Unimate, a product of their new Unimation Corp., was hydraulically powered. Its control system relied upon digital control, a magnetic drum memory, and discrete solid-state control components. In 1961 the first Unimate was installed at a GM plant in Trenton, New Jersey, to assist a hot die-casting machine. Unimation would soon develop robots for welding and other applications. Patent Number 2,988,237 was the seed that spawned the robot industry.

15. Расскажите по-английски о конструкционных частях робота, используя информацию темы 2

UNIT 3. ROBOTICS

1. Прочитайте и выучите слова

–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] – 1) применение, использование, 2) приложение, прикладная программа;

–traverse ['trævəs], [-vɜːs] – 1) прохождение, проезд, проход, пересечение, 2) 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);

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–non-servo robot – робот без сервосистемы;

–servo – исполнительный механизм;

–sequence ['siːkwən(t)s] – последовательность; ряд; очерёдность, порядок (следования);

–amplifier ['æmplɪfaɪə] – усилитель;

–maintain [meɪn'teɪn] – поддерживать, сохранять;

–sophisticated [sə'fɪstɪkeɪtɪd] – сложный, сложно устроенный;

современный, передовой;

–obstruction [əb'strʌkʃ(ə)n] – помеха, препятствие, преграда;

–extension of robot – радиус действия робота.

2. Прочитайте и переведите текст

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

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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.

Classifying Robots

Robots can be classified in various ways, depending on their components, configuration, and use. Three common methods of classifying robots are by the types of control system used, the type of actuator drive used, and the shape of the work envelope.

Type of Control System

Robots may use one of two control systems – non-servo and servo. The earliest type of robot was non-servo, which is considered a non-intelligent robot.

The second type is the servo robot. These robots are classified as either intelligent or highly intelligent. The primary difference between an intelligent and highly intelligent robot is the level of awareness of its environment.

Non-Servo Robots

Non-servo robots are the simplest robots and are often referred to as «limited sequence», «pick-and-place», or «fixed-stop robots». The non-servo robot is an open-loop system. In an open-loop system, no feedback mechanism is used to compare programmed positions to actual positions.

Non-servo robots are also limited in their movement and these limitations are usually in the form of a mechanical stop (limit switch) which signals the controller when it is activated. This form of robot is excellent in repetitive tasks, such as material transfer.

Characteristics of non-servo robots:

•Relatively inexpensive compared to servo robots.

•Simple to understand and operate.

•Precise and reliable.

•Simple to maintain.

•Capable of fairly high speeds of operation.

•Small in size.

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• Limited to relatively simple programs.

Servo Robots

The servo robot is a closed-loop system because it allows for feedback. In a closed-loop system, the feedback signal sent to the servo amplifier affects the output of the system. A servo amplifier translates signals from the controller into motor voltage and current signals. Servo amplifiers are used in motion control systems where precise control of position or velocity is necessary. In a sense, a servomechanism is a type of control system that detects and corrects for errors.

Characteristics of servo robots:

•Relatively expensive to purchase, operate, and maintain.

•Use a sophisticated, closed-loop controller.

•Wide range of capabilities.

•Can transfer objects from one point to another, as well as along a controlled, continuous path.

•Respond to very sophisticated programming.

•Use a manipulator arm that can be programmed to avoid obstructions within the work envelope.

3. Oбразуйте существительные от глаголов и составьте с ними предложения

lead (2), free, move, configure, apply, rotate, add, locate (2), orient, move (2), compare, consider, classify (2), activate (2), repeat, achieve, sophisticate, obstruct, define.

4. Прочитайте и скажите, истинны или ложны следующие утверждения. Откорректируйте предложения так, чтобы все они были верными

1. Nowadays nearly all robots are programmed using the offline method. 2. Teach pendants are usually supplied by manufacturers. 3. The vertical traverse is movement on a vertical axis. 4. The end effector gets its flexibility from the wrist. 5. Mounting the robot on a track or moving base increases the robot’s reach. 6. The range of movement in each of robot’s joints is considerably greater in comparison with the human hand. 7. Non-servo robots are classified as either intelligent or highly intelligent. 8. Movement of servo robots is limited by mechanical stops. 9. Servo robots are excellent in repetitive tasks, such as material transfer. 10. As the servo robot allows for feedback it is a closed-loop

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system. 11. Servo amplifiers are used to provide precise control of position or velocity in motion control systems.

5. Задание

5.1. Прочитайте и переведите следующие слова

physically, series, configuration, require, achieve, configuration, environment, mechanism, precise, voltage, characteristics

5.2.Определите, какими частями речи являются слова из 5.1

5.3.Составьте словосочетания со словами из 5.1

6. Вставьте пропущеннные слова

extend, actuator, closed-loop, motion, envelope, freedom, flexibility, traverse (2), axis, sophisticated, controller, pitch, degrees.

1. The open loop hydraulic system has advantage of less heat generation and on the other hand the … circuit is preferred for better (precise) response of the actuation. 2. Scientists have created efficient artificial, or "robotic" muscles, which could carry a weight 80 times its own and able to … to five times its original length when carrying the load. 3. Engineers and scientists now can design … control systems. 4. There are several types of … used in robots. 5. Robot … planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. 6. This type of robot has six… of freedom, meaning it can pivot in six different ways. 7. Maximum … encompasses the maximum designed movements of all robot parts, including the end effector, workpiece and attachments. 8. Universal Robots’ robotic arms offer unparalleled performance in precision handling, …, and payload. 9. Playback control uses a … with memory to record motion sequences in a work cycle, as well as associated locations and other parameters, and then plays back the work cycle during programme execution. 10. The rotational … is movement on a vertical axis. 11. In order to completely define an objects location in space, at least six degrees of freedom must be defined; its Cartesian coordinates, or x, y, z location, and its orientation, or roll, … and yaw. 12. A robot with three movable joints will have three … and three degrees of …. 13. Range of motion is an important determinant of a robotic system’s capabilities and is usually measured by “degrees of freedom” (DOF), which refers to the number of axes a robot arm is able to … .

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7. Соедините слова и их определения (некоторым словам соответствует 2 определения)

8. Задание

8.1. Переведите словосочетания

in some degree, to some/a certain degree, academic degree, bachelor's degree, to award / confer a degree on, to take one's degree, master's degree, to freeze at zero degrees Celsius, degree of comparison

8.2. Составьте предложения со словами из 8.1

9. Переведите предложения

1. The letter arrived in a long envelope. 2. I can't tell you the exact amount, but my back-of-the-envelope calculation indicates a cost of about $300,000. 3. The simplest formal expression for an envelope of curves in the (x,y)-plane is the pair of equations. 4. To say that he bends the rules, pushes the envelope and extends the possibilities of fiction is to state only part of the case. 5. We're trying to push the envelope as much as possible.

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