1、raising standards worldwide NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW BSI Standards Publication BS ISO 8373:2012 Robots and robotic devices VocabularyBS ISO 8373:2012 BRITISH STANDARD National foreword This British Standard is the UK implementation of ISO 8373:2012. It s
2、upersedes BS EN ISO 8373:1996 which is withdrawn. The UK participation in its preparation was entrusted to Technical Committee AMT/-/2, Robots and robotic devices. A list of organizations represented on this committee can be obtained on request to its secretary. This publication does not purport to
3、include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2012. Published by BSI Standards Limited 2012 ISBN 978 0 580 70968 5 ICS 01.040.25; 25.040.30 Compliance with a British Standard cannot confer immunity from legal
4、obligations. This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 September 2012. Amendments issued since publication Date Text affectedBS ISO 8373:2012Reference number Numro de rfrence ISO 8373:2012(E/F) ISO 2012INTERNATIONAL STANDARD NORME IN
5、TERNATIONALE ISO 8373 Second edition Deuxime dition 2012-03-01 Robots and robotic devices Vocabulary Robots et composants robotiques Vocabulaire BS ISO 8373:2012 ISO 8373:2012(E/F) COPYRIGHT PROTECTED DOCUMENT DOCUMENT PROTG PAR COPYRIGHT ISO 2012 The reproduction of the terms and definitions contai
6、ned in this International Standard is permitted in teaching manuals, instruction booklets, technical publications and journals for strictly educational or implementation purposes. The conditions for such reproduction are: that no modifications are made to the terms and definitions; that such reprodu
7、ction is not permitted for dictionaries or similar publications offered for sale; and that this International Standard is referenced as the source document. With the sole exceptions noted above, no other part of this publication may be reproduced or utilized in any form or by any means, electronic o
8、r mechanical, including photocopying and microfilm, without permission in writing from either ISO at the address below or ISOs member body in the country of the requester. La reproduction des termes et des dfinitions contenus dans la prsente Norme internationale est autorise dans les manuels denseig
9、nement, les modes demploi, les publications et revues techniques destins exclusivement lenseignement ou la mise en application. Les conditions dune telle reproduction sont les suivantes: aucune modification nest apporte aux termes et dfinitions; la reproduction nest pas autorise dans des dictionnair
10、es ou publications similaires destins la vente; la prsente Norme internationale est cite comme document source. la seule exception mentionne ci-dessus, aucune partie de cette publication ne peut tre reproduite ni utilise sous quelque forme que ce soit et par aucun procd, lectronique ou mcanique, y c
11、ompris la photocopie et les microfilms, sans laccord crit de lISO ladresse ci-aprs ou du comit membre de lISO dans le pays du demandeur. ISO copyright office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail copyrightiso.org Web www.iso.org Published in Switzerlan
12、d/Publi en Suisse ii ISO 2012 All rights reserved/Tous droits rservsBS ISO 8373:2012 ISO 8373:2012(E/F) ISO 2012 All rights reserved/Tous droits rservs iiiContents Page Foreword . v Introduction . vii 1 Scope 1 2 General terms . . 1 3 Mechanical structure 7 4 Geometry and kinematics 13 5 Programming
13、 and control 17 6 Performance 24 7 Sensing and navigation 28 Annex A (informative) Examples of types of mechanical structure 31 Bibliography 34 Alphabetical index 35 BS ISO 8373:2012 ISO 8373:2012(E/F) iv ISO 2012 All rights reserved/Tous droits rservsSommaire Page Avant-propos . vi Introduction . v
14、iii 1 Domaine dapplication . 1 2 Termes gnraux 1 3 Structure mcanique 7 4 Gomtrie et cinmatique 13 5 Programmation et commande . 17 6 Performances 24 7 Dtection et navigation 28 Annexe A (informative) Exemples de types de structures mcaniques . 31 Bibliographie 34 Index alphabtique 37 BS ISO 8373:20
15、12 ISO 8373:2012(E/F) ISO 2012 All rights reserved/Tous droits rservs vForeword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO techn
16、ical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely
17、with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft In
18、ternational Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn to the possibility that some of the elements of this document
19、may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. ISO 8373 was prepared by Technical Committee ISO/TC 184, Automation systems and integration, Subcommittee SC 2, Robots and robotic devices. This second edition cancels and replaces t
20、he first edition (ISO 8373:1994), which has been technically revised and expanded to include both industrial robots and service robots. It also incorporates the Amendment ISO 8373:1994/Amd.1:1996 and the Technical Corrigendum ISO 8373:1994/Cor.1:1996. BS ISO 8373:2012 ISO 8373:2012(E/F) vi ISO 2012
21、All rights reserved/Tous droits rservsAvant-propos LISO (Organisation internationale de normalisation) est une fdration mondiale dorganismes nationaux de normalisation (comits membres de lISO). Llaboration des Normes internationales est en gnral confie aux comits techniques de lISO. Chaque comit mem
22、bre intress par une tude a le droit de faire partie du comit technique cr cet effet. Les organisations internationales, gouvernementales et non gouvernementales, en liaison avec lISO participent galement aux travaux. LISO collabore troitement avec la Commission lectrotechnique internationale (CEI) e
23、n ce qui concerne la normalisation lectrotechnique. Les Normes internationales sont rdiges conformment aux rgles donnes dans les Directives ISO/CEI, Partie 2. La tche principale des comits techniques est dlaborer les Normes internationales. Les projets de Normes internationales adopts par les comits
24、 techniques sont soumis aux comits membres pour vote. Leur publication comme Normes internationales requiert lapprobation de 75 % au moins des comits membres votants. Lattention est appele sur le fait que certains des lments du prsent document peuvent faire lobjet de droits de proprit intellectuelle
25、 ou de droits analogues. LISO ne saurait tre tenue pour responsable de ne pas avoir identifi de tels droits de proprit et averti de leur existence. LISO 8373 a t labore par le comit technique ISO/TC 184, Systmes dautomatisation et intgration, sous-comit SC 2, Robots et composants robotiques. Cette d
26、euxime dition annule et remplace la premire dition (ISO 8373:1994), qui a fait lobjet dune rvision technique et dune extension pour inclure la fois les robots industriels et les robots de services. Elle incorpore galement lAmendement ISO 8373:1994/Amd.1:1996 et le Rectificatif technique ISO 8373:199
27、4/Cor.1:1996. BS ISO 8373:2012 ISO 8373:2012(E/F) ISO 2012 All rights reserved/Tous droits rservs viiIntroduction This International Standard specifies vocabulary used in relation with robots and robotic devices operating in both industrial and non-industrial environments. It provides definitions an
28、d explanations of the most commonly used terms, which are grouped into clauses by main topics of robotics. BS ISO 8373:2012 ISO 8373:2012(E/F) viii ISO 2012 All rights reserved/Tous droits rservsIntroduction La prsente Norme internationale spcifie le vocabulaire relatif aux robots et composants robo
29、tiques fonctionnant dans des environnements industriels et non industriels. Elle fournit les dfinitions et les explications des termes les plus couramment utiliss, groups dans des articles par thmes principaux de robotique. BS ISO 8373:2012 INTERNATIONAL STANDARD NORME INTERNATIONALE ISO 8373:2012(E
30、/F) ISO 2012 All rights reserved/Tous droits rservs 1Robots and robotic devices Vocabulary Robots et composants robotiques Vocabulaire 1 Scope This International Standard defines terms used in relation with robots and robotic devices operating in both industrial and non-industrial environments. 1 Do
31、maine dapplication La prsente Norme internationale dfinit les termes relatifs aux robots et composants robotiques fonctionnant dans des environnements industriels et non industriels. 2 General terms 2 Termes gnraux 2.1 manipulator machine in which the mechanism usually consists of a series of segmen
32、ts, jointed or sliding relative to one another, for the purpose of grasping and/or moving objects (pieces or tools) usually in several degrees of freedom (4.4) NOTE 1 A manipulator can be controlled by an operator (2.17), a programmable electronic controller, or any logic system (for example cam dev
33、ice, wired). NOTE 2 A manipulator does not include an end effector (3.11). 2.1 manipulateur machine dont le mcanisme est gnralement compos dune srie de segments, articuls ou coulissants lun par rapport lautre, ayant pour but de saisir et/ou de dplacer des objets (pices ou outils) gnralement suivant
34、plusieurs degrs de libert (4.4) NOTE 1 Un manipulateur peut tre command par un oprateur (2.17), un automate programmable ou tout systme logique (par exemple systme cames ou logique cble). NOTE 2 Un manipulateur ninclut pas de terminal (3.11). 2.2 autonomy ability to perform intended tasks based on c
35、urrent state and sensing, without human intervention 2.2 autonomie capacit dexcuter des tches prvues partir de ltat courant et des dtections, sans intervention humaine 2.3 physical alteration alteration of the mechanical system NOTE The mechanical system does not include storage media, ROMs, etc. 2.
36、3 modification physique modification du systme mcanique NOTE Le systme mcanique ninclut pas les supports de stockage, les mmoires mortes, etc. BS ISO 8373:2012 ISO 8373:2012(E/F) 2 ISO 2012 All rights reserved/Tous droits rservs2.4 reprogrammable designed so that the programmed motions or auxiliary
37、functions can be changed without physical alteration (2.3) 2.4 reprogrammable conu de sorte que les mouvements programms ou les fonctions auxiliaires puissent tre changs sans modification physique (2.3) 2.5 multipurpose capable of being adapted to a different application with physical alteration (2.
38、3) 2.5 multi-application qui peut tre adapt une application diffrente avec modification physique (2.3) 2.6 robot actuated mechanism programmable in two or more axes (4.3) with a degree of autonomy (2.2), moving within its environment, to perform intended tasks NOTE 1 A robot includes the control sys
39、tem (2.7) and interface of the control system. NOTE 2 The classification of robot into industrial robot (2.9) or service robot (2.10) is done according to its intended application. 2.6 robot mcanisme programmable actionn sur au moins deux axes (4.3) avec un degr dautonomie (2.2), se dplaant dans son
40、 environnement, pour excuter des tches prvues NOTE 1 Le robot inclut le systme de commande (2.7) et linterface de communication. NOTE 2 La classification dun robot en robot industriel ( 2.9) ou robot de service ( 2.10) est fonction de lutilisation quil est prvu de faire du robot. 2.7 control system
41、set of logic control and power functions which allows monitoring and control of the mechanical structure of the robot (2.6) and communication with the environment (equipment and users) 2.7 systme de commande ensemble des fonctions de commande logique et de puissance permettant de piloter et de comma
42、nder la structure mcanique du robot (2.6) et de communiquer avec lenvironnement (matriels et utilisateurs) 2.8 robotic device actuated mechanism fulfilling the characteristics of an industrial robot (2.9) or a service robot (2.10), but lacking either the number of programmable axes (4.3) or the degr
43、ee of autonomy (2.2) EXAMPLES Power assist device; teleoperated device; two-axis industrial manipulator (2.1) 2.8 composant robotique appareil robotis mcanisme actionn remplissant les caractristiques dun robot industriel (2.9) ou dun robot de service ( 2.10), lexception du nombre daxes ( 4.3) progra
44、mmables ou du degr dautonomie (2.2) EXEMPLES Composant daide de puissance, composant tl-opr et manipulateur ( 2.1) industriel bi-axial. BS ISO 8373:2012 ISO 8373:2012(E/F) ISO 2012 All rights reserved/Tous droits rservs 32.9 industrial robot automatically controlled, reprogrammable (2.4), multipurpo
45、se ( 2.5) manipulator ( 2.1), programmable in three or more axes ( 4.3), which can be either fixed in place or mobile for use in industrial automation applications NOTE 1 The industrial robot includes: the manipulator, including actuators (3.1); the controller, including teach pendant ( 5.8) and any
46、 communication interface (hardware and software). NOTE 2 This includes any integrated additional axes. 2.9 robot industriel manipulateur (2.1) multi-application (2.5) reprogrammable (2.4) command automatiquement, programmable sur trois axes (4.3) ou plus, qui peut tre fix sur place ou mobile, destin
47、 tre utilis dans des applications dautomatisation industrielle NOTE 1 Le robot industriel inclut: le manipulateur y compris les actionneurs (3.1); le systme de commande y compris le pendant dapprentissage (5.8) et les interfaces de communication (matrielle et logicielle). NOTE 2 Cela inclut tous les
48、 axes additionnels intgrs.2.10 service robot robot (2.6) that performs useful tasks for humans or equipment excluding industrial automation applications NOTE 1 Industrial automation applications include, but are not limited to, manufacturing, inspection, packaging, and assembly. NOTE 2 While articulated robots ( 3.15.5) used in production lines are industrial robots ( 2.9), similar articulated robots used for serving food are service robots (2.10). 2.10 robot de service robot (2.6) qui excute des tches utiles pour des humains ou des appareillages, excluant
