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機械專業(yè)外文資料翻譯 系 別 機電工程系 專 業(yè) 機械設(shè)計制造及其自動化 班 級 161003 學(xué)生姓名 楊鳳姣 學(xué) 號 103371 日 期 2014.06 History of Robots The notion of robots or robot-like automates can be traced back to medieval times. Although people of that era didn’t have a term to describe what we would eventually call a robot they were nevertheless imagining mechanisms that could perform human-like tasks. In medieval times, automatons, human-like figures run by hidden mechanisms, were used to impress peasant worshippers in church into believing in a higher power. The automatons, like the clock jack pictured here, created the illusion of self-motion (moving without assistance). The clock jack was a mechanical figure that could strike time on a bell with its axe. This technology was virtually unheard of in the 13th century. So imagine how aweinspiring an automaton was to someone just like you! In the 18th century, miniature automatons became popular as toys for the very rich. They were made to look and move like humans or small animals. The pretty musician in the picture was built around 1890. She can turn her head from side to side while playing the instrument with her hands and keeping time with her foot. In literature, humankind’s vivid imagination has often reflected our fascination with the idea of creating artificial life. In 1818, Mary Shelly wrote Frankenstein, a story about the construction of a human-like creature. For Shelly, a robot looked like man but had the ability to function like a machine. It was built of human components, which could be held together by nuts and bolts. Notice there are even clips to hold the top of the head together! Shelly considered that a robot had to be bigger than a regular person and had to have super human strength. In 1921, Karel Capek, a Czech playwright, came up with an intelligent, artificially created person, which he called “robot”. The word “robot” is Czech for worker, and was gradually incorporated into the English language without being translated. As you can see, even a hundred years after Shelly’s Frankenstein, Capek’s idea of a robot is still one in which the creation resembles the human form. You can see in the picture that the robot looks much more rigid and machine-like than the woman standing next to it . While the concept of a robot has been around for a very long time, it wasn’t until the 1940’s that the modern day robot was born, with the arrival of computers. The term robotics refers to the study and use of robots; it came about in 1941 and was first adopted by Isaac Asimov, a scientist and writer. It was Asimov who also proposed the following “Laws of Robotics” in his short story Runaround: One, a robot may not injure a human being or through inaction, allow a human being to come to harm. … Two, (…) a robot must obey the orders given it by human beings except where such orders would conflict with the First Law. … Three, a robot must protect its own existence as long as such protection does not conflict with the First or Second Laws. Isaac Asimov i The robot really became a popular concept during the late 1950’s and early 1960’s. With the automotive industry in full expansion at that time,industrial robots were employed to help factory operators. Industrial robots do not have the imaginative, human-like appearance that we have been dreaming of throughout the ages. They are computer-controlled manipulators, like arms and hands, which can weld or spray paint cars as they roll down an assembly line. In fact, industrial robots are so unlike the conception of robots held in the past that you might not even recognise one. Did you know that one of the first operational, industrial robots in North America appeared in the early 1960’s in a candy factory in Kitchener, Ontario? A robot can go where humans cannot. In fact, robots were created to help humans, especially in high risk or dangerous situations. A robot can deactivate a bomb, go to the edges of an active volcano, transport dangerous materials, explore the ocean floor and even perform tasks in the most hostile environment known to man: space. So why is space such a hostile environment? First of all, in space there is no oxygen, and temperatures can range from 120 degrees Celsius in the sun and –100 degrees in the dark, when the Earth blocks the sun. Without the proper protection, like a spacecraft or even the EVA suit used by space walkers, survival in space is not possible. When repairs have to be made outside a spacecraft,astronauts are sometimes required to leave the space shuttle or the Space Station. These extravehicular activities are very dangerous, therefore, robots are used to carry out tasks in space in order to limit the number of extravehicular activities Undertaken. What does a space robot look like? As we have discovered, today’s robots do not necessarily resemble humans. A human is made up of a number of different visible components, like a head – where the brain sends messages to the rest of the body; arms and hands to grasp and manoeuvre objects; a torso to which all of the components are attached and legs to move. Oh! And don’t forget the ears, eyes, and mouth to hear see and communicate! Robots need all these different components to Operate. A number of robots make up the Mobile Servicing System. The Mobile Servicing System is Canada’s contribution to the International Space Station. Canada created the Mobile Servicing System to help in the construction of the Space Station; it will first build the Space Station and then help maintain the Station throughout its lifetime. Just like humans have a brain that sends messages to the rest of the body;The re is a main computer that communicates with the robotic system. The Space Station Remote Manipulator System (SSRMS), Canada’s new robotic arm, will be able to lift and move objects the size and mass of the Space Shuttle. The crew of STS-100 with Canadian Space Agency Astronaut Chris Hadfield will deliver and install the new arm to the International Space Station as it orbits high above the Earth. This second generation Canadarm is Canada’s primary contribution to the Station. The Space Vision System (CSVS), another critical piece of Canadian robotics innovation, is comprised of several cameras and targets. These are located in key areas of the Space Station and on the robotic arm; it will serve to pinpoint the exact movement and location of components for the building and maintenance of the Station. So, astronauts from inside the Space Station are able to operate the Mobile Servicing System by using this Space Vision System. Aside from the CSVS, the next Canadian robot to be brought to space is the SSRMS. When it is brought to space to be installed to the Space Station during STS-100, its predecessor, the Canadarm will lift it from the payload (the inside) of Space Shuttle Endeavour and bring it to the International Space Station. This will be the first in a series of handshakes in space performed by these robots. Stay tuned for more exciting facts about robots… First,I explain the background robots,robot technology development,It should be said it is a common scientific and technological development of a comprehensive results,for?the?socio-economic?development?of?a?significant?impact?on?a?science?and technology.?It?attributed?the?development?of?all?countries?in?the?Second?World?War?to strengthen?the?economic?input?on?strengthening?the?country's?economic?development. But?they?also?demand?the?development?of?the?productive?forces?the?inevitable?result of?human?development?itself?is?the?inevitable?result?then?with?the?development?of humanity,?people?constantly?discuss?the?natural?process,?in?understanding?and reconstructing?the?natural?process,?people?need?to?be?able?to?liberate?a?slave.?So?this?is the?slave?people?to?be?able?to?replace?the?complex?and?engaged?in?heavy?manual labor,?People?do?not?realize?right?up?to?the?world's?understanding?and?transformation of?this?technology?as?well?as?people?in?the?development?process?of?an?objective?need. Robots?are?three?stages?of?development,?in?other?words,?we?are?accustomed?to regarding?robots?are?divided?into?three?categories.?is?a?first-generation?robots,?also known?as?teach-type?robot,?it?is?through?a?computer,?to?control?over?one?of?a mechanical?degrees?of?freedom??Through?teaching?and?information?stored procedures,?working?hours?to?read?out?information,?and?then?issued?a?directive?so the?robot?can?repeat?according?to?the?people?at?that?time?said?the?results?show?this?kind of?movement?again,?For?example,?the?car?spot?welding?robots,?only?to?put?this?spot welding?process,?after?teaching,?and?it?is?always?a?repeat?of?a?work??It?has?the external?environment?is?no?perception?that?the?force?manipulation?of?the?size?of?the work?piece?there?does?not?exist,?welding?0S?It?does?not?know,?then?this?fact?from the?first?generation?robot,?it?will?exist?this?shortcoming,?it?in?the?20th?century,?the late?1970s,?people?started?to?study?the?second-generation robot,?called?Robot?with?the feeling?that??This?feeling?with?the?robot?is?similar?in function?of?a?certain?feeling,?for instance,?force?and?touch,?slipping,?visual,?hearing?and?who?is?analogous?to?that?with ll?kinds?of?feelings,?say?in?a?robot?grasping?objects,?In?fact,?it?can?be?the?size?of a?feeling?out,?it?can?through?visual,?to?be?able?to?feel?and?identify?its?shape,?size,?color Grasping?an?egg,?it?adopted?a?acumen,?aware?of?its?power?and?the?size?of?the?slide. Third-generation?robots,?we?were?a?robotics?ideal?pursued?by?the?most?advanced stage,?called?intelligent?robots,?So?long?as?tell?it?what?to?do,?not?how?to?tell?it?to?do, it?will?be?able?to?complete?the?campaign,?thinking?and?perception?of?this man-machine?communication?function?and?function??Well,?this?current?development or?relative?is?in?a?smart?part?of?the?concept?and?meaning?But?the?real?significance?of the?integrity?of?this?intelligent?robot?did?not?actually?exist,?but?as?we?continued?the development?of?science?and?technology,?the?concept?of?intelligent?increasingly?rich, it?grows?ever?wider?connotations. Now,I?would?like?to?briefly?outline?some?of?the?industrial?robot?situation. So far,the industrial?robot?is?the?most?mature?and?widely?used?category?of?a?robot,now the world's?total?sales?of?1.1?million?Taiwan,?which?is?the?1999?statistics,however,?1.1 million?in?Taiwan?have?been?using?the?equipment?is?75?million,?this?volume is not?small.?Overall,?the?Japanese?industrial?robots?in?this?one,?is?the?first?of?the robots to?become?the?Kingdom,?the?United?States?have?developed?rapidly.?Newly installed in?several?areas?of?Taiwan,?which?already?exceeds?Japan,?China?has?only just begun?to?enter?the?stage?of?industrialization,?has?developed?a?variety?of industrial robot?prototype?and?small?batch?has?been?used?in?production. Spot?welding?robot?is?the?auto?production?line,?improve?production?efficiency and raise?the?quality?of?welding?car,?reduce?the?labor?intensity?of?a?robot. It?is characterized?by?two?pairs?of?robots?for?spot?welding?of?steel?plate,?bearing?a great need?for?the?welding?tongs,?general?in?dozens?of?kilograms?or?more,?then?its speed in?meters?per?second?a?5-2?meter?of?such?high-speed?movement.?So?it?is generally five?to?six?degrees?of?freedom,?load?30?to?120?kilograms,?the?great?space, probably expected?that?the?work?of?a?spherical?space,?a?high?velocity,?the?concept of freedom,?that?is?to?say,?Movement?is?relatively?independent?of?the?number of components,?the?equivalent?of?our?body,?waist?is?a?rotary degree?of?freedom. We?have?to?be?able?to?hold?his?arm,?Arm?can?be?bent,?then?this?three?degrees of freedom,?Meanwhile?there?is?a?wrist of freedom. We will be able to space the three locations, three postures, the robot fully achieved,and of course we have less than six degree of freedom.Have more?than?six?degrees?of?freedom?robot,?in different occasions the need to configure. The?second?category?of?service?robots,?with?the?development?of?industrialization, especially?in?the?past?decade,?Robot?development?in?the?areas?of?application?are continuously?expanding,?and?now?a?very?important?characteristic,?as?we?all?know, Robot?has?gradually?shifted?from?manufacturing?to?non-manufacturing?and?service industries,?we?are?talking?about?the?car?manufacturer?belonging?to?the manufacturing?industry,?However,?the?services?sector?including?cleaning, refueling,?rescue,?rescue,?relief,?etc.?These?belong?to?the?non-manufacturing industries?and?service?industries,?so?here?is?compared?with?the?industrial?robot,?it?is a?very?important?difference.?It?is?primarily?a?mobile?platform,?it?can?move?to?sports, there?are?some?arms?operate,?also?installed?some?as?a?force?sensor?and?visual sensors,?ultrasonic?ranging?sensors,?etc.?It’s?surrounding?environment?for?the conduct?of?identification,?to?determine?its?campaign?to?complete?some?work,?this is?service?robot’s?one?of?the?basic?characteristics. For?example,?domestic?robot?is?mainly?embodied?in?the?example?of?some?of?the carpets?and?flooring?it?to?the?regular?cleaning?and?vacuuming.?The?robot?it?is?very meaningful,?it?has?sensors,?it?can?furniture?and?people?can?identify,?It automatically?according?to?a?law?put?to?the?ground?under?the?road?all?cleaned?up. This?is?also?the?home?of?some?robot?performance. The?medical?robots,?nearly?five?years?of?relatively?rapid?development?of?new application?areas.?If?people?in?the?course?of?an?operation,?doctors?surgery,?is?a fatigue,?and?the?other?manually?operated?accuracy?is?limited.?Some?universities?in Germany,?which,?facing?the?spine,?lumbar?disc?disease,?the?identification,?can automatically?use?the?robot-aided?positioning,?operation?and?surgery??Like?the United?States?have?been?more?than?1,000?cases?of?human?eyeball?robot?surgery, the?robot,?also?including?remote-controlled?approach,?the?right?of?such gastrointestinal?surgery,?we?see?on?the?television?inside.?a?manipulator,?about?the thickness?fingers?such?a?manipulator,?inserted?through?the?abdominal?viscera, people?on?the?screen?operating?the?machines?hand,?it?also?used?the?method?of?laser lesion?laser?treatment,?this?is?the?case, people would not have a very big damage tothe human body. In?reality,?this?right?as?a?human?liberation?is?a?very?good?robots,?medical?robots?it?is very?complex,?while?it?is?fully?automated?to?complete?all?the?work,?there?are difficulties,?and?generally?are?people?to?participate.?This?is?America,?the development?of?such?a?surgery?Lin?Bai?an?example,?through?the?screen,?through?a remote?control?operator?to?control?another?manipulator,?through?the?realization?of the?right?abdominal?surgery?A?few?years?ago?our?country?the?exhibition,?the? United?States?has?been?successful?in?achieving?the?right?to?the?heart?valve?surgery and?bypass?surgery.?This?robot?has?in?the?area,?caused?a?great?sensation, but?also,?AESOP's?surgical?robot,?In?fact,?it?through?some?equipment?to?some?of the?lesions?inspections,?through?a?manipulator?can?be?achieved?on?some?parts?of?the operation??Also?including?remotely?operated?manipulator,?and?many?doctors?are able?to?participate?in?the?robot?under?surgery?Robot?doctor?to?include?doctors?with pliers,?tweezers?or?a?knife?to?replace?the?nurses,?while?lighting?automatically?to the?doctor's?movements?linked,?the?doctor?hands?off,?lighting?went?off,?This?is very?good,?a?doctor's?assistant. Robot?is?mankind's?right-hand?man;?friendly?coexistence?can?be?a?reliable?friend.?In future,?we?will?see?and?there?will?be?a?robot?space?inside,?as?a?mutual?aide?and friend.??Robots?will?create?the?jobs?issue.?We?believe?that?there?would?not?be a?"robot?appointment?of?workers?being?laid?off"?situation,?because?people?with?the development?of?society,?In?fact?the?people?from?the?heavy?physical?and?dangerous environment?liberated,?so?that?people?have?a?better?position?to?work,?to?create?a better?spiritual?wealth?and?cultural?wealth. 機器人的歷史 機器人或機器人一樣能自動化的概念可以追溯到中世紀時代。雖然那個時代的人沒有一個詞來描述我們最終稱它為機器人，他們?nèi)匀?想象可以執(zhí)行類似人類的任務(wù)機制。 在中世紀時期，通過隱藏運行機制的類似人類的裝置的自動機，被用來打動在教堂做禮拜的農(nóng)民，以為在一個更高的功率。 該自動機，像時鐘插孔如圖示，創(chuàng)造了自運動的錯覺（在沒有援助下移動）。時鐘插孔是一個可以罷工時間的機械裝置，在鐘上用它的軸。這項技術(shù)在13世紀幾乎是聞所未聞。所以，想象一下這是多么令人振奮，自動機就是某個人，就像你！ 在18世紀，微型自動機成為上流社會非常受歡迎的玩具。他們所做的外觀和運動就像人或小動物。在圖片中漂亮的音樂家制造在1890年左右，她可以把她的頭從一邊轉(zhuǎn)到另一邊同時用她的雙手在演奏樂器，而且與她的腳保持時間的同步。 在文學(xué)中，人們的豐富的想像力，往往反映我們所著迷的，創(chuàng)造人造生命的想法。1818年，瑪麗·雪萊寫了《科學(xué)怪人》，一個關(guān)于制造類似人類的故事。對于謝莉，一個看起來像人的機器人，但是他有像一臺機器功能的能力。它制造與人體組件，可以可以通過螺母和螺栓固定在一起。請注意，甚至有夾子保持頭頂在一起！雪莉考慮到機器人必須是大于一個普通的人，并且必須有超人類的力量。 1921年，卡雷爾·恰佩克，捷克劇作家，想出了一個聰明的，人為地創(chuàng)建人，他稱之為“機器人”。單詞“機器人”是捷克的工人沒有被翻譯逐漸并入英語中的。正如你可以看到，即使一百年之后，雪莉的科學(xué)怪人，恰佩克機器人的想法仍然是一個建立中類似于人形的人。 你可以在圖片中看到，機器人看起來更加僵化，機器般像女人站在它旁邊。 雖然機器人的概念已經(jīng)存在了很長時間，但直到1940年，隨著電腦的到來的現(xiàn)代機器才被生產(chǎn)。 該機器人一詞指的是機器人的研究和使用;它是約1941年首次被科學(xué)家和作家艾薩克·阿西莫夫所使用。也正是阿西莫夫在他的短篇故事環(huán)舞中提出了下面的“機器人定律”： 一，機器人不得傷害人類，或袖手旁觀坐視一個人是要受到傷害。 ... 二，（...），機器人必須服從人類給它的命令除外如該命令將與第一定律相沖突。 ... 三，機器人必保護自己的存在只要這種保護不與第一或第二定律相沖突。 艾薩克·阿西莫夫 機器人真的成了一個流行的概念是在1950年代后期60年代初期。伴隨當(dāng)時的汽車產(chǎn)業(yè)全面擴張，工業(yè)機器人被用來幫助工廠操作員。 工業(yè)機器人不具備古往今來我們一直夢想的想象力，類似人類的外表。他們是計算機控制的機械手，像胳膊和手，他們可以焊接或噴涂汽車，因為他們形成了一條裝配生產(chǎn)線。 事實上，工業(yè)機器人是如此的不同于過去的你可能甚至不承認的機器人的概念。 你知道嗎，在北美第一臺可使用的工業(yè)機器人之一出現(xiàn)在1960年代初在安大略省基奇納一家糖果廠？ 機器人可以去人類不能去的地方。事實上，機器人的創(chuàng)建是為了幫助人類，尤其是在高風(fēng)險或危險的情況。機器人可以停用炸彈，去一個活躍的邊緣火山，運輸危險物品，探索海底并且，即使在人類已知的最惡劣的環(huán)境中執(zhí)行任務(wù)：空間。 那么，為什么空間是如此惡劣的環(huán)境？首先，在空間中沒有氧氣，溫度的范圍可以從陽光下120度變化到在地球擋住太陽的黑暗中-100度。如果沒有適當(dāng)?shù)谋Ｗo，像一個飛船，甚至是步行者使用的空間EVA外衣，生存空間是不可能的。 維修時必須在航天器外面做，宇航員有時需要離開航天飛機或者空間站。這些出艙活動都非常危險的，因此，機器人在空間在中用來執(zhí)行任務(wù)為了限制的艙外活動開展的數(shù)量。 一個空間機器人是什么樣子？正如我們所看到的，今天的機器人并不像人類。一個人是由一個不同的有形成分，像頭 - 在大腦將消息發(fā)送到身體的其他部分;雙臂和雙手抓握和 操縱對象;軀干，其中所有的部件都附屬在此，還有腿移動。哦！而且不要忘了耳朵，眼睛和嘴巴去聽看到和溝通！機器人需要所有這些不同的組件操作。 許多機器人組成的移動服務(wù)系統(tǒng)。該移動服務(wù)系統(tǒng)是加拿大的貢獻國際空間站。加拿大創(chuàng)建移動服務(wù)系統(tǒng)幫助空間站的建設(shè);它會先建立空間站，然后幫助維護空間站其整個生命周期。 就像人類有一個大腦發(fā)送消息到身體的其他部位;有與所述機器人系統(tǒng)進行通信的主計算機。 空間站遙控器系統(tǒng)（SSRMS）加拿大的新的機器人手臂，將能夠提升和移動對象，航天飛機的大小和質(zhì)量。STS-100，加拿大航天局的宇航員克里斯·哈德菲爾德將提供并安裝新的機械臂到國際空間站，因為它的高軌道在地球上方。第二代加拿大臂是加拿大通往空間站的主要貢獻。 空間視覺系統(tǒng)（CSVS），加拿大機器人技術(shù)創(chuàng)新的另一個關(guān)鍵部分，是由幾個攝像機和目標。這些位于空間站和機械臂上的關(guān)鍵部分;它將有助于精確定位部件的精確移動和定位該站的建設(shè)和維護。所以，空間站的宇航員能夠通過使用這個空間視覺系統(tǒng)來操作移動服務(wù)系統(tǒng)。 除了空間視覺系統(tǒng)，接下來加拿大機器人被帶到空間是SSRMS。當(dāng)它被帶到空間來安裝到空間站在STS-100，其前身加拿大臂將解除奮進號航天飛機的有效載荷（內(nèi)部），并把它帶到國際空間站。這將是在空間中第一次一系列握手行動通過這些機器人執(zhí)行。 請繼續(xù)關(guān)注有關(guān)機器人更令人興奮的事實... 首先我介紹一下機器人產(chǎn)生的背景，機器人技術(shù)的發(fā)展，它應(yīng)該說是一個科學(xué)技術(shù)發(fā)展共同的一個綜合性的結(jié)果，同時，為社會經(jīng)濟發(fā)展產(chǎn)生了一個重大影響的一門科學(xué)技術(shù)，它的發(fā)展歸功于在第二次世界大戰(zhàn)中各國加強了經(jīng)濟的投入，就加強了本國的經(jīng)濟的發(fā)展。另一方面它也是生產(chǎn)力發(fā)展的需求的必然結(jié)果，也是人類自身發(fā)展的必然結(jié)果，那么隨著人類的發(fā)展，人們在不斷探討自然過程中，在認識和改造自然過程中，需要能夠解放人的一種奴隸。那么這種奴隸就是代替人們?nèi)ツ軌驈氖聫?fù)雜和繁重的體力勞動，實現(xiàn)人們對不可達世界的認識和改造，這也是人們在科技發(fā)展過程中的一個客觀需要。 機器人有三個發(fā)展階段，那么也就是說，我們習(xí)慣于把機器人分成三類，一種是第一代機器人，那么也叫示教再現(xiàn)型機器人，它是通過一個計算機，來控制一個多自由度的一個機械，通過示教存儲程序和信息，工作時把信息讀取出來，然后發(fā)出指令，這樣的話機器人可以重復(fù)的根據(jù)人當(dāng)時示教的結(jié)果，再現(xiàn)出這種動作，比方說汽車的點焊機器人，它只要把這個點焊的過程示教完以后，它總是重復(fù)這樣一種工作，它對于外界的環(huán)境沒有感知，這個力操作力的大小，這個工件存在不存在，焊的好與壞，它并不知道，那么實際上這種從第一代機器人，也就存在它這種缺陷，因此，在20世紀70年代后期，人們開始研究第二代機器人，叫帶感覺的機器人，這種帶感覺的機器人是類似人在某種功能的感覺，比如說力覺、觸覺、滑覺、視覺、聽覺和人進行相類比，有了各種各樣的感覺，比方說在機器人抓一個物體的時候，它實際上力的大小能感覺出來，它能夠通過視覺，能夠去感受和識別它的形狀、大小、顏色。抓一個雞蛋，它能通過一個觸覺，知道它的力的大小和滑動的情況。第三代機器人，也是我們機器人學(xué)中一個理想的所追求的最高級的階段，叫智能機器人，那么只要告訴它做什么，不用告訴它怎么去做，它就能完成運動，感知思維和人機通訊的這種功能和機能，那么這個目前的發(fā)展還是相對的只是在局部有這種智能的概念和含義，但真正完整意義的這種智能機器人實際上并沒有存在，而只是隨著我們不斷的科學(xué)技術(shù)的發(fā)展，智能的概念越來越豐富，它內(nèi)涵越來越寬。? 下邊我簡單介紹一下工業(yè)機器人的一些情況。到目前為止，工業(yè)機器人是最成熟，應(yīng)用最廣泛的一類機器人，世界總量目前已經(jīng)銷售110萬臺，這是1999年的統(tǒng)計，但這110萬臺在已經(jīng)進行裝備使用的是75萬臺，這個量也是不小的?？傮w情況看，日本在工業(yè)機器人這一塊，是首位的，成為機器人的王國，美國發(fā)展也很迅速，目前在新安裝的臺數(shù)方面，已經(jīng)超過了日本，中國剛開始進入產(chǎn)業(yè)化的階段，已經(jīng)研制出多種工業(yè)機器人樣機，已有小批量在生產(chǎn)中使用。? 點焊機器人主要是針對汽車生產(chǎn)線，提高生產(chǎn)效率，提高汽車焊接的質(zhì)量，降低工人的勞動強度的一種機器人。它的特點是通過機器人對兩個鋼板進行點焊的時候，需要承載一個很大的焊鉗，一般在幾十公斤以上，那么它的速度要求在每秒鐘一米五到兩米這樣的高速運動，所以它一般來說有五到六個自由度，負載三十到一百二十公斤，工作的空間很大，大概有兩米，這樣一個球形的工作空間，運動速度也很高，那么自由度的概念，就是說，是相對獨立運動的部件的個數(shù)，就相當(dāng)于我們?nèi)梭w，腰是一個回轉(zhuǎn)的自由度，我們大臂可以抬起來，小臂可以彎曲，那么這就三個自由度，同時腕部還有一個調(diào)整姿態(tài)來使用的三個自由度，所以一般的機器人有六個自由度，就能把空間的三個位置，三個姿態(tài)，機器人完全實現(xiàn)，當(dāng)然也有小于六個自由度的，也有多于六個自由度的機器人，只是在不同的需要場合來配置。? 第二類是服務(wù)機器人，隨著工業(yè)化的發(fā)展，尤其近十年以來，機器人的發(fā)展的應(yīng)用領(lǐng)域在不斷拓寬，目前一個很重要的特征，大家都知道，機器人已經(jīng)從