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فهرست مطالب

   عناوین                                                                                                                                                                                                                                                                                                                                                  شماره صفحه

• مقدمه                                                                                                                             1
• فصل اول (رباتها ، تاریخچه و انواع آنها)                                                                                                      2
• 1-1- ربات                                                                                                                                                 3

                 1-1-1- تعاریف ربات                                                                                               4                        

                 1-1-2- علم رباتیک                                                                                                6

                 1-1-3- مزایای رباتها                                                                                             7

                   1-1-4- معایب رباتها                                                                                             7

• 1-2- تاریخچه رباتها                                                                                                                                   8
• 1-3- دسته بندی رباتها                                                                                                                           12

                 1-3-1- دسته بندی اتحادیه رباتهای ژاپن                                                                    12

                 1-3-2- دسته بندی موسسه رباتیک آمریکا                                                                 13

                 1-3-3- دسته بندی اتحادیه فرانسوی رباتهای صنعتی                                                     13

• 1-4- انواع رباتها                                                                                                                                        14

               1-4-1- رباتهای متحرک                                                                                       14

                 1-4-2- ربات همکار                                                                                             15

                 1-4-3- نانوبات                                                                                                     16

• 1-5- طبقه بندی رباتها                                                                                                                           18

                   1-5-1- طبقه بندی رباتها از نظر کاربرد                                                                     18

                          1-5-1-1- رباتهای صنعتی                                                                           18

                          1-5-1-2- رباتهای شخصی و علمی                                                                  18

                            1-5-1-3- رباتهای نظامی                                                                            18

                  1-5-2- طبقه بندی رباتها از نظر استراتژی کنترل                                                         19           1-5-2-1- نسل اول                                                                                   19

                              1-5-2-2- نسل دوم                                                                                   19

                              1-5-2-3- نسل سوم                                                                                  20

                           1-5-2-4- نسل چهارم                                                                                21

   عناوین                                                                                                                                                                                                                                                                                                                                                   شماره صفحه                         1-5-3- طبقه بندی رباتها از نظر محرک مفصلها                                                             23                                  1-5-3-1- سیستمهای الکتریکی                                                                    23

                              1-5-3-2- موتورهای DC                                                                           23

                              1-5-3-3- موتورهای AC                                                                           24

• فصل دوم (کاربرد رباتها و اجزاء آنها)                                                                                                         25
• 2-1- کاربرد رباتها                                                                                                                                     26

                         2-1-1- ربات آدم نمای اعلام خطر                                                                             26

      2-1-2- رباتها برای تقلید رفتار حیوانات                                                               27

                   2-1-3- ربات تعقیب خط                                                                                        28

                   2-1-4- ربات حس کننده تماس                                                                               29

                   2-1-5- ربات آبی، برای یافتن جعبه سیاه هواپیما                                                           30

                   2-1-6- ربات پذیرش                                                                                              31

• 2-2- اجزاء اصلی یک ربات                                                                                                                      32

                   2-2-1- بازوی مکانیکی ماهر                                                                                   32

                   2-2-2- سنسورها                                                                                                 34

                              2-2-2-1- سنسورهای بدون تماس                                                               34

                              2-2-2-2- سنسورهای القائی                                                                       35

                  2-2-3- کنترلر                                                                                                     39

                  2-2-4- واحد تبدیل توان                                                                                        41

                              2-2-4-1- موتور                                                                                         41

   عناوین                                                                                                                                                                                                                                                                                                                                                   شماره صفحه

                              2-2-4-2- دسته بندی کلی موتورها                                                                 42

                   2-2-5- محرک مفاصل                                                                                           44

• فصل سوم (ربات مسیریاب)                                                                                                                     45
• 3-1- ربات مسیریاب                                                                                                                                46

                          3-1-1- ربات مسیر یاب 7 سنسور                                                                             47

                   3-1-2- شرح عملکرد ربات مسیر یاب                                                                         49

                   3-1-3- ساختن ربات مسیر یاب                                                                              50

                   3-1-4- مدار ربات مسیر یاب                                                                                 52

                 3-1-5- برنامه ربات مسیر یاب                                                                                  53

                    3-1-6- شکل ربات مسیر یاب 7 سنسور                                                                     57

• منابع و ماخذ                                                                                                                             58