Contents

Chapter1Introduction:robotsandrobotics1

1.1Whatisarobot?1

1.2Whatcanrobotsdo(orwhataretheysupposedtodo)3

1.3Theelementsofanindustrialrobot5

Chapter2Worldofrobots9

2.1Assembly-linerobots:robotsformakingthings9

2.2Porteringrobots:robotsthatfetchandcarry11

2.3Tele-operatedrobots:keepingthehumanintheloop13

2.4Robotsforeducation20

2.5OtherSmartrobots21

Chapter3Actuatorsforrobots24

3.1Pneumatic24

3.2Hydraulic25

3.3Electric26

3.4Otherelectromechanicalactuators26

3.5Mechanicaltransmission27

Chapter4Sensingforrobots28

4.1Sensingingeneral28

4.2Internalsensing30

4.3Externalsensing31

Chapter5Controllingandprogrammingforrobots34

5.1Methodsofoperationofindustrialrobots34

5.2Variouscoordinatesystems35

5.3Methodsofteachingandprogramming37

5.4Programminglanguagesforindustrialrobots39

Chapter6Wrist,hand,andgripper41

6.1Introduction41

6.2Wrist41

6.3Gripper42

6.4Futurerobotichands43

Chapter7Robotkinematicsanddynamics45

7.1RobotKinematics45

7.2Dynamics47

Chapter8Performancespecificationofindustrialrobots49

8.1Physicalcharacteristicsofrobots49

8.2Geometricconfiguration50

8.3Positioningaccuracyandrepeatability51

8.4Angularaccuracyandrepeatability52

8.5Speedandaccelerationaccuracy53

8.6Spatialspecifications:workingvolume,sweptarea,reach53

8.7Payload54

8.8Vibration54

8.9Miscellaneousspecifications54

Chapter9Industrialrobots:acasestudy55

9.1Applicationofindustrialrobots55

9.2Acasestudy:FanucM10iA/12robotarm57

9.3Pickingandpackingworkstation59

9.4Outlook59

Chapter10Safetyandethicsforrobots60

10.1Safety60

10.2Robotethics64

Chapter11Roboticfutures67

11.1Futurebreakthroughonrobotics67

11.2Autonomousrobotplanetaryscientist67

11.3Aswarmofmedicalmicro-robots69

11.4Ahumanoidrobotcompanion70

AppendixAEnglishforScienceandTechnology(EST)72

A.1CharacteristicsofgrammarandsentencesofEST72

A.1.1Commonlyused:passiveverb72

A.1.2Commonlyused:thesimplepresenttense73

A.1.3Commonlyused:longsentence73

A.2Characteristicsofwords75

A.2.1Specializedgeneralwords75

A.2.2Prefixandsuffixofwords75

A.2.3Abbreviationandacronym76

A.2.4Combinedwords76

AppendixBHowtoplanyourcareerandcreatearesume77

B.1Howtoplanyourcareer?77

B.2Howtocreatearesume?79

B.2.1Structuringyourresume79

B.2.2Makingyourcontentshine80

B.2.3Finalizingyourresume81

B.2.4Resumetemplate81

AppendixCCodeofethicsforroboticsengineers85

C.1Preamble85

C.2Principles85

C.3Conclusion87

AppendixDInformationretrieval88

D.1Informationretrieval,moreimportantthanyouthought88

D.1.1Whatisinformationretrieval88

D.1.2Whatcaninformationretrievaldo?88

D.1.3Howtodotheliteraturesearching?90

D.2RetrievalofChinesedatabase:CNKI90

D.3RetrievalofEnglishdatabase:ISIWebofKnowledge97

D.4Otherresources101

D.4.1BingAcademic101

D.4.2GoogleScholar102

D.4.3Newwaysofinformationretrieval104

AppendixETell&Show107

E.1Chapter1107

E.2Chapter2107

E.3Chapter3107

E.4Chapter4108

E.5Chapter5108

E.6Chapter6108

E.7Chapter7108

E.8Chapter8108

E.9Chapter9109

E.10Chapter10109

E.11Chapter11109

AppendixFWorldofrobotics110

F.1Classicbooksonrobotsandrobotics110

F.2Journalsandmagazinesonrobotsandrobotics111

F.3Websitesonrobotsandrobotics111

F.4Roboticsopencourses112

F.5Otherresources113

AppendixGWordsandexpressions114

Reference130

Acknowledgement131