翻译---美国机器人产业50年发展及现状

Drive System Design for Rotary Motion of Mechanical

Hand(Arm)

1.A mechanical hand was first used to carry radioactive materials in the nuclear experimentmade by the USA at late stage in 1940s when human beings operated the mechanical hand ina safety cage to make all sorts of experiments. Mechanical hands have been graduallyextended to industrial production department since 1950s to take work pieces and handlematerials where it is seriously polluted at high temperature. It is also used for automaticmachine. Automatic production line, and machining center as an auxiliary device to chargeand discharge, take a cutting tool from tool storage, and replace a cutting tool according tofixed program. A mechanical hand mainly consists of a hand mechanism and a kinematic one.The hand mechanism varies with application and action-object and usually falls into gripping,holding, and absorbing types. The kinematic mechanism is generally driven by hydraulic,pneumatic, and electrical hand may independently realize stretching, rotation, and up anddown movements.In the article it is to make a study of mechanical hand used for internal grinder in abearing production line, which is mainly to carry upper from entrance to chuck, from chuck todischarge point. Upper bearing is also an important part in a compressor of Sanyo. Much ofthe mechanical hand used for previously internal grinder cannot meet current productionrequirements as it was it a product of several decades age; for example, the servomotor andservo amplifier used for the mechanical hand have become out of date. It is very difficult topurchase their spare parts, and it is will be very hard to repair in the case of failure. Secondlythe control system is out of date, and it is very complicate and maintain. The whole control system of the mechanical hand (including the servo motor and servo amplifier) is analyzed

and designed in the article according to the above-mentioned. The performance and functionof the servo amplifier are analyzed and designed, and pattern selection is made for the servomotor. It has used been used in practice for the purpose of being cost saving and efficient.

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