機(jī)器人設(shè)計(jì)外文翻譯---古今機(jī)器人的發(fā)展

1、<p><b>　　附　錄 </b></p><p><b>　　古今機(jī)器人的發(fā)展</b></p><p>　　機(jī)器人的發(fā)展史的里程碑，日本推出世界上第一款會走路的美女機(jī)器人HRP-4C。</p><p>　　據(jù)英國《每日郵報(bào)》報(bào)道，日本科學(xué)家最近展示了一名機(jī)械黑發(fā)美女，她不僅能說話，可行走具有豐富的表情，還能在

2、舞臺上走貓步。</p><p>　　據(jù)悉，這個外表亮麗的類人機(jī)器人名為“HRP-4C”，它的體內(nèi)裝有30個發(fā)動機(jī)，能夠幫助它行走和移動手臂，面部的8個發(fā)動機(jī)則賦予它憤怒、驚訝等表情。</p><p>　　作為機(jī)器人產(chǎn)品最早的實(shí)用機(jī)型（示教再現(xiàn)）是1962年美國AMF公司推的“VERSTRAN”和UNIMATION公司推出的“UNIMATE”。這些工業(yè)機(jī)器人的控制方式與數(shù)控機(jī)床大致相似，但外

3、形特征迥異，主要由類似人的手和臂組成。</p><p>　　說起機(jī)器人，我們頭腦里馬上會聯(lián)想到那些會唱歌跳舞干工作而且有頭有手的小東西。其實(shí)那只是機(jī)器人的狹意理解。機(jī)器人的完整意義應(yīng)該是一種可以代替人進(jìn)行某種工作的自動化設(shè)備。它可以是各種樣子，并不一定長得像人，也不見得以人類的動作方式活動。 事實(shí)上，機(jī)器人的祖先可以追溯到兩千多年前呢。我們知道古人用滴漏計(jì)時的方法，其實(shí)那就是一種自動化設(shè)備——水鐘。那時，

4、人們將兩個水壺一上一下放置，上面的水壺將水滴到下面的水壺里。下面的水壺中安放一個浮標(biāo)，浮標(biāo)上有表示時間的刻度。這樣，浮標(biāo)隨著水位的升高而升起，人們就會在壺的外面看到那些表示時間的刻度了。水量的穩(wěn)定與否，制約著時間的準(zhǔn)確。于是，人們就增加了幾個水壺，使它們形成了一個系統(tǒng)。一個自動化機(jī)器的內(nèi)部都有著一套相互關(guān)聯(lián)的設(shè)備。多數(shù)人認(rèn)為，在公元前250年一個希臘科學(xué)家制造出了這樣的鐘，它利用虹吸原理使水自動循環(huán)。到了中世紀(jì)，歐洲人發(fā)明了由擺控制的鐘

5、，18世紀(jì)又發(fā)明了用發(fā)條控制的鐘，機(jī)器的自動化水平越來越高。在我國，則從周朝到明朝一直沿用著滴漏計(jì)時設(shè)備。</p><p>　　機(jī)器人的概念及與發(fā)展史　</p><p>　　機(jī)器人是一種自動化的機(jī)器，所不同的是這種機(jī)器人具備一些與人或生物相似的智能能力，如感知能力、規(guī)劃能力、、動作能力和協(xié)同能力，是一種具有高度靈活性的自動化機(jī)器。</p><p>　　早在1920年

6、，捷克斯洛伐克作家卡雷爾·恰佩克在他的科幻小說《羅薩姆的機(jī)器人萬能公司》中，根據(jù)Robota（捷克文，愿意為“勞役、苦工”）和Robotnik（波蘭文，愿意為“工人”），創(chuàng)造出“機(jī)器人”這個詞。</p><p>　　1939年，美國紐約世博會上展出了西屋電氣公司制造的家用機(jī)器人Elektro。它由電纜控制，可以行走，會說77個字，甚至可以抽煙，不過離真正的干家務(wù)活還差得遠(yuǎn)。但它讓我們對家用機(jī)器人的憧憬變

7、得更加具體。</p><p>　　1942年，美國科幻巨匠阿西莫夫提出“機(jī)器人三定律”。雖然這只是科幻小說的創(chuàng)造，但后來成為學(xué)術(shù)界默認(rèn)的研發(fā)原則。</p><p>　　1948年，諾伯特·維納出版《控制論》，闡述機(jī)器中的通信和控制機(jī)能與人的神經(jīng)、感覺機(jī)能的共同規(guī)律，率先提出以計(jì)算機(jī)為核心的自動化工廠。</p><p>　　1954年，美國人喬治·

8、德沃爾制造出世界上第一臺可編程的機(jī)器人，并注冊了專利。這種機(jī)械手能按照不同的程序從事不同的工作，因此具有通用性和靈活性。</p><p>　　1956年，在達(dá)特茅斯會議上，馬文·明斯基提出了他對智能機(jī)器人的看法：智能機(jī)器“能夠創(chuàng)建周圍環(huán)境的抽象模型，如果遇到問題，能夠從抽象模型中尋找解決方法”。這個定義影響到以后30年智能機(jī)器人的研究方向。</p><p>　　1959年，德沃爾

9、與美國發(fā)明家約瑟夫·英格伯格聯(lián)手制造出第一臺工業(yè)機(jī)器人。隨后，成立了世界上第一家機(jī)器人制造工廠—Unimation公司。由于英格伯格對工業(yè)機(jī)器人的研發(fā)和宣傳，他也被稱為“工業(yè)機(jī)器人之父”。</p><p>　　1962年，美國AMF公司生產(chǎn)出“VERSTRAN”（意思是萬能搬運(yùn)），與Unimation公司生產(chǎn)的Unimate一樣成為真正商業(yè)化的工業(yè)機(jī)器人，并出口到世界各國，掀起了全世界對機(jī)器人和機(jī)器人研

10、究的熱潮。</p><p>　　1962年-1963年，傳感器的應(yīng)用提高了機(jī)器人的可操作性。人們試著在機(jī)器人上安裝各種各樣的傳感器，包括1961年恩斯特采用的觸覺傳感器，托莫維奇和博尼1962年在世界上最早的“靈巧手”上用到了壓力傳感器，而麥卡錫1963年則開始在機(jī)器人中加入視覺傳感系統(tǒng)，并在1965年，幫助MIT推出了世界上第一個帶有視覺傳感器，能識別并定位積木的機(jī)器人系統(tǒng)。</p><p&

11、gt;　　1965年，約翰·霍普金斯大學(xué)應(yīng)用物理實(shí)驗(yàn)室研制出Beast機(jī)器人。Beast已經(jīng)能通過聲納系統(tǒng)、光電管等裝置，根據(jù)環(huán)境校正自己的位置。20世紀(jì)60年代中期開始，美國麻省理工學(xué)院、斯坦福大學(xué)、英國愛丁堡大學(xué)陸續(xù)成立了機(jī)器人實(shí)驗(yàn)室。美國興起研究第二代帶傳感器、“有感覺”的機(jī)器人，并向人工智能進(jìn)發(fā)。</p><p>　　世界第一臺智能機(jī)器人Shakey</p><p>　　

12、1968年，美國斯坦福研究所公布他們研發(fā)成功的機(jī)器人Shakey.它帶有視覺傳感器，能根據(jù)人的指令發(fā)現(xiàn)并抓取積木，不過控制它的計(jì)算機(jī)有一個房間那么大。Shakey可是算是世界上第一臺智能機(jī)器人，拉開了第三代機(jī)器人研發(fā)的序幕。</p><p>　　1969年，日本早稻田大學(xué)加藤一郎實(shí)驗(yàn)室研發(fā)出第一臺以雙腳走路的機(jī)器人。加藤一郎長期致力于研究仿真機(jī)器人，被譽(yù)為“仿真機(jī)器人之父”。日本專家一向以研發(fā)仿人機(jī)器人和娛樂機(jī)器

13、人的技術(shù)見長，后來更進(jìn)一步，催生出本田公司的ASIMO和索尼公司的QRIO。</p><p>　　1973年，世界上第一次機(jī)器人和小型計(jì)算機(jī)攜手合作，就誕生了美國Cincinnati Milacron公司的機(jī)器人T3。</p><p>　　1978年，美國Unimation公司推出了通用工業(yè)機(jī)器人PUMA，這標(biāo)志著工業(yè)機(jī)器人的技術(shù)已經(jīng)完全成熟。PUMA至今仍然工作在工廠的第一線。</

14、p><p>　　1984年，英格伯格再推出機(jī)器人Helpmate，這種機(jī)器人能在醫(yī)院為病人送飯、送藥、送郵件。同年，他還預(yù)言：“我要讓機(jī)器人擦地板、做飯、出去幫我洗車，檢查安全”。</p><p>　　1998年，丹麥樂高公司推出機(jī)器人（Mind-storms）套件，讓機(jī)器人制造變得跟搭積木一樣，相對簡單又能任意拼裝，是機(jī)器人開始走入個人世界。</p><p>　　19

15、99年，日本索尼公司推出犬型機(jī)器人愛寶（AIBO），當(dāng)即銷售一空，從此娛樂機(jī)器人成為目前機(jī)器人邁進(jìn)普通家庭的途徑之一。</p><p>　　2002年，美國iRobot公司推出了吸塵器機(jī)器人Roomba，它能避開障礙，自行設(shè)計(jì)行進(jìn)路線，還能在電量不足時，自動駛向充電座。Roomba是目前世界上銷量最大、最商業(yè)化的家用機(jī)器人。</p><p>　　2006年6月，微軟公司推出Microsof

16、t Robotics Studio，機(jī)器人模塊化、平臺統(tǒng)一化的趨勢越來越明顯，比爾·蓋茨預(yù)言，家用機(jī)器人很快將席卷全球。</p><p>　　二、機(jī)器人的各種外觀</p><p><b>　　1.美國戰(zhàn)斗機(jī)器狗</b></p><p>　　2.日本喂飯機(jī)器人“My Spoon”</p><p>　　3.美國宇航

17、局Lemur機(jī)器人</p><p>　　4.瑞士“達(dá)芬奇”手術(shù)機(jī)器人</p><p>　　5.美軍爆炸物處理機(jī)器人</p><p>　　6. 日本營救機(jī)器人</p><p>　　7.美國“水下龍蝦”機(jī)器人</p><p>　　約瑟夫·艾亞斯教授設(shè)計(jì)的放生水下機(jī)器人“水下龍蝦”（Robolobster）,目地是

18、查看海水的變化，定位并排除水雷。</p><p>　　8. 美宇航局六腿探測車</p><p>　　美國宇航局的“全地形六腿地外探測車”經(jīng)過特殊設(shè)計(jì)，將能在未來的月球任務(wù)中穿越起伏不平的地形，并能攀越極其崎嶇或者陡峭的地形。</p><p>　　9.日本機(jī)器人Twendy-One機(jī)器人</p><p>　　2009年1月14日，日本東京早稻田

19、大學(xué)機(jī)械工程學(xué)系實(shí)驗(yàn)室的機(jī)器人“Twendy-One”靈巧地用“手”抓起一根吸管，他們希望這些機(jī)器人能為老年人提供服務(wù)。</p><p>　　10.中國北京農(nóng)民的拉車機(jī)器人</p><p>　　11.美國宇航局探索機(jī)器人</p><p>　　12.德國人形機(jī)器人調(diào)制速溶茶</p><p>　　三、機(jī)器人的結(jié)構(gòu)組成及工作原理</p>

20、<p>　　機(jī)器人一把由執(zhí)行機(jī)構(gòu)、驅(qū)動裝置、檢測裝置和控制系統(tǒng)等組成。</p><p>　　執(zhí)行機(jī)構(gòu)：即機(jī)器人本體，其臂部一般采用空間開鏈連桿機(jī)構(gòu)，其中的運(yùn)動副（轉(zhuǎn)動副或移動副）常稱為關(guān)節(jié)，關(guān)節(jié)個數(shù)通常即為機(jī)器人的自由度數(shù)。</p><p>　　檢測裝置的作用是實(shí)時檢測機(jī)器人的運(yùn)動及工作情況，根據(jù)需要反饋給控制系統(tǒng)，與設(shè)定信息進(jìn)行比較后，對執(zhí)行機(jī)構(gòu)進(jìn)行調(diào)整，以保證機(jī)器人的動作

21、符合預(yù)定的要求。</p><p>　　控制系統(tǒng)有兩種。一種是分散（級）式控制，即機(jī)器人的全部控制由一臺微型計(jì)算機(jī)完成。另一種是分散（級）式控制，即采用多臺微機(jī)來分擔(dān)機(jī)器人的控制。如當(dāng)采用上、下兩級微分共用完成機(jī)器人的控制時，主機(jī)常用于負(fù)責(zé)系統(tǒng)的管理、通訊、運(yùn)動學(xué)和動力學(xué)計(jì)算，并向下級微機(jī)發(fā)送指令信息；作為下級從機(jī)，各關(guān)節(jié)分別對應(yīng)一個CPU，進(jìn)行插補(bǔ)運(yùn)算和伺服控制處理，實(shí)現(xiàn)給定的運(yùn)動，并向主機(jī)反饋信息。</p

22、><p>　　機(jī)器人技術(shù)綜合了多學(xué)科的發(fā)展成果，代表了高科技的發(fā)展前沿，它在人類生活應(yīng)用領(lǐng)域的不斷擴(kuò)大正引起國際上重新認(rèn)識機(jī)器人技術(shù)的作用和影響。</p><p>　　而實(shí)際上，機(jī)器人是自動執(zhí)行工作的機(jī)器裝置。它既可以接受人類指揮，又可以運(yùn)行預(yù)先編排的程序，也可以根據(jù)以人工智能技術(shù)制定的原則綱領(lǐng)行動。它的任務(wù)是協(xié)助或取代人類工作的工作，例如生產(chǎn)業(yè)、建筑業(yè)，或是危險(xiǎn)的工作。</p>

23、<p>　　它可以說是高級整合控制論、機(jī)械電子、計(jì)算機(jī)、材料和仿生學(xué)的產(chǎn)物。目前在工業(yè)、醫(yī)學(xué)、農(nóng)業(yè)、建筑業(yè)甚至軍事等領(lǐng)域中均有重要用途。</p><p>　　現(xiàn)在，國際上對機(jī)器人的概念已經(jīng)逐漸趨近一致。一般說來，人們都可以接受這種說法，即機(jī)器人是靠自身動力和控制能力來實(shí)現(xiàn)各種功能的一種機(jī)器。聯(lián)合國標(biāo)準(zhǔn)化組織采納了美國機(jī)器人協(xié)會給機(jī)器人下的定義：“一種可編程和多功能的，用來搬運(yùn)材料、零件、工具的操作機(jī)；

24、或是為了執(zhí)行不同的任務(wù)而具有可改變和可編程動作的專門系統(tǒng)。”</p><p>　　The development of the robot</p><p>　　The robot milestone, Japan launched the first paragraph HRP - 4C beauty robot who can walk in the world</p>&

25、lt;p>　　According to Britain's daily mail reports that Japanese scientists recently demonstrated a mechanical dark-haired beauty, she can not only speak, walkable has rich expression, still can walk in Maobu on the

26、 stage.</p><p>　　It is reported, this looks beautiful humanoid robot, called "HRP - 4C", its inside contains30 engines, can help it walk and move arm, facial eight engines is giving it such as ang

27、er, surprise facial expression.</p><p>　　As the earliest practical model robot products (demonstration reappearance) is 1962 U.S. AMF company push "VERSTRAN" and UNIMATION company launched "UN

28、IMATE". These industrial robot control method is similar to the numerical control machine tool but different shape characteristics, which mainly consists of similar man's hands and arms.Speaking of robot, our h

29、eads immediately associate with those who can sing and dance and have a head and hands thing. But actually it's the narrow understand of R</p><p>　　The ancestors who can be traced back to more than 2,000

30、 years ago. We know that the ancients timing method with drip, but actually it is a kind of automation equipment -- water clock. At that time, people will be two kettle it placed, above kettle water to below will be in t

31、he kettle.The kettle placed a buoy and it has time scale. Such buoy rise as the water , people would see those scale of time outside the kettle。Water stability and restricts the exact time. And so, people have increase

32、d sev</p><p>　　Frist The concept of a robot and development</p><p>　　The robot is a kind of automatic machines, what is different is that this machine has some of people or biological similar i

33、ntelligence capabilities, such as perception and planning skills, action ability and synergy, is a kind of highly flexible automation machine.As recently as 1920, Czechoslovakia karel van just peck writer in his science

34、 fiction novel the ROM Sam robot everything ", according to the Robota (Czech rodman, original intention is "forced labor,") and Robotnik (polish, original </p><p>　　In 1939, the United States

35、 on display at the New York world expo Westinghouse electric manufacturing household robots Elektro. It consists of cable control and it can walk, will say 77 words, can even smoking, but far away from doing housework。B

36、ut it makes people to the household robot vision become more specific.</p><p>　　American science fiction masters in 1942 asimov suggested "robot three law". Although this is the creation of science

37、 fiction, but later became the principle of academic research by default.</p><p>　　In 1948 norbert wiener published "cybernetics", this paper expounds the communication and control function machine

38、 with nerves, sensory function of common laws, first put forward in the computer for core automation factory.</p><p>　　In 1954 americans George DE wal-mart produced the world's first programmable robots,

39、 and registered patents This manipulator according to different programs can in a different job, so versatile and flexibility..</p><p>　　In 1956 in Dartmouth meeting, Marvin minsky raised his views of intell

40、igent machines, intelligent machine "to create the environment of abstract model, if encounter problems, from abstract model can find solutions". This definition influenced later 30 years intelligent robot rese

41、arch direction.</p><p>　　1959 American inventor's wal-mart and Joseph John eng sulzberger jointly create the first industrial robots. Subsequently, established the world first robot manufacture factory

42、- Unimation Company. Due to the industrial robot hochfrequenztechnik eng R&D and publicity, he has been called "the" father of industrial robots.</p><p>　　1962 U.S. AMF company produced "V

43、ERSTRAN" (meaning is universal handling), and Unimation Unimate production company as real commercial industrial robots, and exported to the world, raised the world for robots and robot research upsurge.</p>

44、<p>　　1962-1963 sensor applications improve robot maneuverability. People try to install in the robot variety of sensors, including 1961 ernst, "the tactile sensor abramovich and BoNi 1962 in the world's f

45、irst" dextrous hand "used to pressure sensor on, while the start in 1963 McCarthy in robot join vision sensing system, and in 1965, help MIT launched the world's first with visual sensor can identify and po

46、sitioning of the robot system blocks.</p><p>　　1965 Johns Hopkins university applied physics laboratory developed Beast robot.Beast can already through the sonar system, phototubes etc device, according to e

47、nvironmental correction oneself of position. The mid 1960s began, the Massachusetts institute of technology, Stanford University, UK University of Edinburgh, etc were established a robot laboratory. The United States ris

48、e researching second generation takes sensors, "feel" of the robot of artificial intelligence, and to the crater.</p><p>　　The world's first intelligent robot Shakey</p><p>　　In 1

49、968, Stanford research institute announced their Shakey developed robots. It contains visual sensor, can according to the instructions to grab blocks, but to control the computer have a room that. Shakey may be the world

50、's first intelligent robot, kicking off the prelude of the third generation robot research.</p><p>　　In 1969, Japan waseda university kato ichiro laboratory developed the first walking with two feet robo

51、t.Kato ichiro long-term commitment to research of humanoid robot, known as the "father" of humanoid robot.Japanese expert always with R&D humanoid robot and entertainment robot technology to grow percepti

52、bly, then further, gave birth to the Honda's ASIMO and SONY's QRIO.</p><p>　　In 1973, the world's first robot and small computer cooperated and born the United States Milacron company's robot

53、 T3 Cincinnati.</p><p>　　In 1978 the United States Unimation company came out with general industrial robot PUMA, which marks the industrial robot technology is fully mature. PUMA still working in the facto

54、ry the front line.</p><p>　　1984 eng Sulzberger then push Helpmate, the robot can send food for patients in the hospital sending medicine, send E-mail. That same year, he also predicted: "I want to make

55、 robots cook, clean the floor, help me wash the car, check out safty".</p><p>　　In 1998, the Danish lego robots (of launch storms) package, let robot manufacture as well as with the building blocks, bec

56、ome relatively simple and can freely assembles, make robots begin to walk into personal world.</p><p>　　1999 SONY of Japan launched AiBao (AIBO dogs robot, and promptly sold out) from then on the entertainme

57、nt robot become robots now towards one of the ways to ordinary families.</p><p>　　2002 U.S. iRobot Roomba robotic vacuum was introduced; it can avoid obstacles, automatic design route, still can in electric

58、ity shortage, automatic to charging seats. Roomba is the world's largest, most commercial sales of household robots. IRobot Company, Beijing area authorized agent: Beijing micro nets ZhiHong technology Co., LTD. http

59、://www.micronet.net.cn.</p><p>　　In June, 2006, Microsoft launched Microsoft Robotics Studio, robot modular, platform unified trend more and more apparent, Bill Gates predicted, household robots will soon b

60、e sweeping the globe. Along with the rapid development of science and technology, the future of the robot will be more intelligent.</p><p>　　Second, all sorts of appearance of the robot</p><p>　

61、　The American combat machine dog</p><p>　　Japanese fed robot "My Spoon"</p><p>　　NASA Lemur robot</p><p>　　Swiss "Da Vinci" surgical robot</p><p>　　

62、U.S. explosives processing robot</p><p>　　Japan rescue robot</p><p>　　The United States "underwater lobster" robot</p><p>　　Josef ayers professor of bionics in the design

63、of underwater robot "underwater lobster" (Robolobster), the purpose of which is to view the seawater changes, positioning and get rid of mine.</p><p>　　NASA rover six legs</p><p>　　NA

64、SA's "all-terrain six legs land rover" after the special design, will in future lunar missions across the undulating in the terrain, and can climb extremely rugged or steep terrain.</p><p>　　R

65、obots in Japan Twendy a-one robot</p><p>　　On January 14, 2009 Waseda University in Tokyo, Japan, department of mechanical engineering laboratory robot "Twendy a-one" deftly with "hand" g

66、rabbed a pipette; they hope these robots can provide services for Elderly.</p><p>　　Beijing, Chinese farmers pony-drawn cart robot</p><p>　　NASA's explored robot</p><p>　　German

67、y humanoid robot modulation instant tea</p><p>　　Third, the robot structure composition and working principle</p><p>　　Robot general, the executing agency, drive device, monitoring and control

68、system etc.</p><p>　　Actuators namely robot ontology, its brachial ministry generally USES the space open chain link mechanism, and one of the sports vice (rotation vice or mobile vice) often called the join

69、t, joint number of the robot is usually free degrees.</p><p>　　Detection device is the role of the movement and real-time inspection robot working condition, according to need to give feedback to the contro

70、l system, and setting information is compared to actuators, after adjustment, to ensure that the robots meet predetermined requirement of action.</p><p>　　Control system has two modes.One is centralized cont

71、rol, namely full control of the robot by a microcomputer completed. Another kind is scattered (level) type control, namely using microcomputer to share the robot control. Like when the next two levels of microcomputer, c

72、ompleted jointly control of the robot, host used to be responsible for the system management, communication, kinematics and dynamics calculation, and to lower the microcomputer sends commands information;As a junior res

73、pectivel</p><p>　　Robotic technology integrated multidisciplinary development achievements, represents the development of high technology in human life, its frontier enlargement of the application of interna

74、tional recognize again is arousing the role and impact of robot technology.</p><p>　　In fact, the Robot (Robot) is automatically performing work machine device. It can accept human command, and can run prior

75、 arrangement, can also according to the procedures set by the principle of artificial intelligence technology platform action. Its mission is to assist or the work to replace human work，such as manufacturing, constructio

76、n, or dangerous job.</p><p>　　It is a senior integration cybernetics, machinery and electronics, computer, material and product of bionics. At present, in industry, medicine, agriculture, construction and ev

77、en military, etc have important applications.</p><p>　　Now, on the concept of international of robots has been gradually approaching the consistent. Generally speaking, people can accept this statement, nam

78、ely the robot is a machine that under their own power and control ability to achieve various functions.The United Nations standardization organization adopted the definition of the robot by the American association: &qu