摘要
工业机器人具有工作效率高、稳定可靠、重复精度好、能在高危环境下作业等优势,在传统制造业、特别是劳动密集型产业的转型升级中将发挥重要作用。通过回顾工业机器人的发展背景和起源,介绍了本体与主要核心部件的骨干生产企业;总结了机器人的机械结构、感知系统、驱动系统、操作系统、手把手示教等关键技术的研究进展情况;给出了基于PDA示教的船舶焊接机器人、双臂装配机器人、装配/拆卸双功能机器人、移动式工业机器人、打磨抛光机器人和缝纫机器人等新型工业机器人的应用案例。
Industrial robots have a lot of advantages such as high efficiency,stable and reliable,good repeatability and adapting to operate in high-risk environment. They will play important roles in traditional manufacturing industries,especially the labor-intensive industries. The development background and origin of industrial robots were reviewed and the present main production enterprises of industrial robot main bodies and its core parts were introduced. The recent developments of some industrial robot key technologies were summarized about the robot mechanical structure,perception system,driving system,operating system and step-by-step teaching. Some newer industrial robots and their applications were given such as shipbuilding welding robot using a PDA teach pendant,dual arm assembly robot,double function robot for assembly / disassembly,mobile industrial robot,polishing robot and sewing robot,etc.
出处
《机电工程》
CAS
2015年第1期1-13,共13页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(51175471)
浙江省科技厅创新团队资助项目(2011R50011-07)
关键词
机器换人
机器人操作系统
手把手示教
双臂机器人
装配/拆卸双功能机器人
by machine instead of human
robot operating system（ROS）
step-by-step teaching
dual arm robot
robot for assembly/disassembly
