Special English for Industrial Robot URL ：www.irobot-edu.com Mail ：edubot_zhang@126.com

49PARTs Unit01 Introduction of robot Unit02 Introduction of industrial robot Unit03 Types of industrial robots Unit04 ABB robot Unit05 KUKA robot Unit06 YASKAWA robot Unit07 FANUC Robot Unit08 SCARA robot Unit09 Industry application of robot Unit10 New robots Unit11 Intelligent manufacturing and global robot development program Unit12 The outlook for industrial robot 49PARTs

Unit 2 Introduction of industrial robot Task： Part1 Main parts of industrial robot Part2 Basic terms Part3 Technical parameters Part4 Kinematics and dynamics Special English for Industrial Robot Unit 2 Introduction of industrial robot URL ：www.irobot-edu.com Mail：edubot_zhang@126.com

7 Unit 2. Introduction of industrial robot Part3 Technical parameters The technical parameters reflect the scope and performance of the robot, including: number of axies, degrees of freedom, payload, working envelope, maximum Speed, resolution, accuracy, repeatability, other parameters are: control mode, drive mode, installation, power source capacity, body weight, environmental parameters.

7 Unit 2. Introduction of industrial robot Part3 Technical parameters 1.Number of axes Two axes are required to reach any point in a plane; three axes are required to reach any point in space. To fully control the orientation of the end of the arm (i.e. the wrist) three more axes are required. Some designs (e.g. the SCARA robot) trade limitations in motion possibilities for cost, speed, and accuracy.

7 Unit 2. Introduction of industrial robot Part3 Technical parameters 2. Degrees of freedom (DOF) The number of independent motions in which the end effector of the robot can move, defined by the number of axes of motion of the manipulator, usually the same as the number of axes, as shown in Figure 2-3. DOF reflects the flexibility of robot action, with the more DOF , the robot is closer to human action, the versatility of the robot is better. However, the mechanisms is more complex, the overall requirements of the robot is higher Therefore, the degrees of freedom of industrial robots are designed according to application.

7 Unit 2. Introduction of industrial robot Part3 Technical parameters Figure 2-3 DOF of robot

7 Unit 2. Introduction of industrial robot Part3 Technical parameters 3. Payload How much weight a robot can lift.？The maximum payload is the amount of weight carried by the robot manipulator at reduced speed while maintaining rated precision. Nominal payload is measured at maximum speed while maintaining rated precision.

7 Unit 2. Introduction of industrial robot Part3 Technical parameters Product number Payload Image ABB YuMi 0.5kg YASKAMA MH12 12kg IRB120 3kg YASKAWA MC2000II 50kg KUKA KR6 6kg FANUC R-2000iB/210F 210kg KR16 16kg M-200iA/2300 2300kg

Figure 2-4 Working envelope of ABB-IRB120 Unit 2. Introduction of industrial robot 7 Part3 Technical parameters 4.Working envelope Also known as working space. A three-dimensional shape that defines the region of space a robot can reach; also known as reach envelope, as shown in Figure 2-4. a) Main view b) Top view Figure 2-4 Working envelope of ABB-IRB120

7 Unit 2. Introduction of industrial robot Part3 Technical parameters 5.Maximum Speed The compounded maximum speed of the tip of a robot moving at full extension with all joints moving simultaneously in complimentary directions. This speed is the theoretical maximum and should not be used to estimate cycle time for a particular application. 6. Resolution The smallest increment of motion or distance that can be detected or controlled by the control system of a mechanism. The resolution of any joint is a function of encoder pulses per revolution and drive ratio, and dependent on the distance between the tool center point and the joint axis.

7 Unit 2. Introduction of industrial robot Part3 Technical parameters 7. Accuracy How closely a robot can reach a commanded position? The difference between the point that a robot is trying to achieve and the actual resultant position. Absolute accuracy is the difference between a point instructed by the robot control system and the point actually achieved by the manipulator arm, while repeatability is the cycle-to-cycle variation of the manipulator arm when aimed at the same point.

7 Unit 2. Introduction of industrial robot Part3 Technical parameters 8.Repeatability How well the robot will return to a programmed position. That is to say, The ability of a system to repeat the same motion or achieve the same points when presented with the same control signals. The cycle-to-cycle error of a system when trying to perform a specific task.

7 Unit 2. Introduction of industrial robot Vocabulary Part3 Technical parameters Vocabulary orientation [orɪɛn'teʃən] n.方向；定向；情况介绍 flexibility [,flɛksə'bɪləti] n.灵活性；弹性；适应性 versatility [,vɝsə'tɪləti] n.多功能性；用途广泛 scope [skop] n.范围；余地；视野 payload ['pelod] n.有效载荷 resolution [,rɛzə'luʃən] n. [物] 分辨率 repeatability [ri'pi:tə'biliti] n.重复性；再现性 installation ['ɪnstə'leʃən] n.安装；装置；就职 increment ['ɪŋkrəmənt] n.增量；增加；增额

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