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多自由度机械手毕业论文中英文资料外文翻译文献

毕业论文中英文资料外文翻译文献专业机械设计制造及其自动化课题多自由度机械手机械设计英文原文Automated Tracking and Grasping of a Moving Object with a RoboticHand-Eye SystemAbstractMost robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.I. INTRODUCTIONThe focus of our work is to achieve a high level of interaction between real-time vision systems capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used to intercept, grasp, and pick up a movingobject. We are interested in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.There has been much research in robotics over the last few years that address either visual tracking of moving objects or generalized grasping problems. However, there have been few efforts that try to link the two problems. It is quite clear that complex robotic tasks such as automated assembly will need to have integrated systems that use visual feedback to plan, execute, and monitor grasping.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, using visual feedback to track, intercept, stably grasp, and pick up a moving object. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.Our work also addresses a very fundamental and limiting problem that is inherent in building integrated sensing actuation systems; integration of systems with different sampling and processing rates. Most complex robotic systems are actually amalgams of different processing devices, connected by a variety of methods. For example, our system consists of three separate computation systems: a parallel image processing computer; a host computer that filters, triangulates, and predicts 3-D position from the raw vision data; and a separate arm control system computer that performs inverse kinematic transformations and joint-level servicing. Each of these systems has its own sampling rate, noise characteristics, and processing delays, which need to be integrated to achieve smooth and stable real-time performance. In our case, this involves overcoming visual processing noise and delays with a predictive filter basedupon a probabilistic analysis of the system noise characteristics. In addition, real-time arm control needs to be able to operate at fast servo rates regardless of whether new predictions of object position are available.The system consists of two fixed cameras that can image a scene containing a moving object (Fig. 1). A PUMA-560 with a parallel jaw gripper attached is used to track and pick up the object as it moves (Fig. 2). The system operates as follows:1) The imaging system performs a stereoscopic optic-flow calculation at each pixel in the image. From these optic-flow fields, a motion energy profile is obtained that forms the basis for a triangulation that can recover the 3-D position of a moving object at video rates.2) The 3-D position of the moving object computed by step 1 is initially smoothed to remove sensor noise, and a nonlinear filter is used to recover the correct trajectory parameters which can be used for forward prediction, and the updated position is sent to the trajectory-planner/arm-control system.3) The trajectory planner updates the joint-level servos of the arm via kinematic transform equations. An additional fixed-gain filter is used to provide servo-level control in case of missed or delayed communication from the vision and filtering system.4) Once tracking is stable, the system commands the arm to intercept the moving object and the hand is used to grasp the object stably and pick it up.The following sections of the paper describe each of these subsystems in detail along with experimental results.П. PREVIOUS WORKPrevious efforts in the areas of motion tracking and real-time control are too numerous to exhaustively list here. We instead list some notable efforts that have inspired us to use similar approaches. Burt et al. [9] have focused on high-speed feature detection and hierarchical scaling of images in order to meet the real-time demands of surveillance and other robotic applications. Related work has been reported by. Lee and Wohn [29] and Wiklund and Granlund [43] who uses image differencing methods to track motion. Corke, Paul, and Wohn [13] report afeature-based tracking method that uses special-purpose hardware to drive a servocontroller of an arm-mounted camera. Goldenberg et al. [16] have developed a method that uses temporal filtering with vision hardware similar to our own. Luo, Mullen, and Wessel [30] report a real-time implementation of motion tracking in 1-D based on Horn and Schunk’s method. Vergheseetul. [41] Report real-time short-range visual tracking of objects using a pipelined system similar to our own. Safadi [37] uses a tracking filter similar to our own and a pyramid-based vision system, but few results are reported with this system. Rao and Durrant-Whyte [36] have implemented a Kalman filter-based decentralized tracking system that tracks moving objects with multiple cameras. Miller [31] has integrated a camera and arm for a tracking task where the emphasis is on learning kinematic and control parameters of the system. Weiss et al. [42] also use visual feedback to develop control laws for manipulation. Brown [8] has implemented a gaze control system that links a robotic “head” containing binocular cameras with a servo controller that allows one to maintain a fixed gaze on a moving object. Clark and Ferrier [12] also have implemented a gaze control system for a mobile robot. A variation of the tracking problems is the case of moving cameras. Some of the papers addressing this interesting problem are [9], [15], [44], and [18].The majority of literature on the control problems encountered in motion tracking experiments is concerned with the problem of generating smooth, up-to-date trajectories from noisy and delayed outputs from different vision algorithms.Our previous work [4] coped with that problem in a similar way as in [38], using an cy- p - y filter, which is a form of steady-state Kalman filter. Other approaches can be found in papers by [33], [34], [28], [6]. In the work of Papanikolopoulos et al. [33], [34], visual sensors are used in the feedback loop to perform adaptive robotic visual tracking. Sophisticated control schemes are described which combine a Kalman filter’s estimation and filtering power with an optimal (LQG) controller which computes the robot’s motion. The vision system uses an optic-flow computation based on the SSD (sum of squared differences) method which, while time consuming, appears to be accurate enough for the tracking task. Efficient use of windows in the image can improve the performance of this method. The authors have presented good tracking results, as well as stated that the controller is robust enough so the use ofmore complex (time-varying LQG) methods is not justified. Experimental results with the CMU Direct Drive Arm П show that the methods are quite accurate, robust, and promising.The work of Lee and Kay [28] addresses the problem of uncertainty of cameras in the robot’s coordinate frame. The fact that cameras have to be strictly fixed in robot’s frame might be quite annoying since each time they are (most often incidentally) displaced; one has to undertake a tedious job of their recalibration. Again, the estimation of the moving object’s position and orientation is done in the Cartesian space and a simple error model is assumed. Andersen et al. [6] adopt a 3rd-order Kalman filter in order to allow a robotic system (consisting of two degrees of freedom) to play the labyrinth game. A somewhat different approach has been explored in the work of Houshangi [24] and Koivo et al. [27]. In these works, the autoregressive (AR) and auto grassier moving-average with exogenous input (ARMAX) models are investigated for visual tracking.Ш. VISION SYSTEMIn a visual tracking problem, motion in the imaging system has to be translated into 3-D scene motion. Our approach is to initially compute local optic-flow fields that measure image velocity at each pixel in the image. A variety of techniques for computing optic-flow fields have been used with varying results includingmatching-based techniques [5], [ 10], [39], gradient-based techniques [23], [32], [ 113, and patio-temporal, energy methods [20], [2]. Optic-flow was chosen as the primitive upon which to base the tracking algorithm for the following reasons.·The ability to track an object in three dimensions implies that there will be motion across the retinas (image planes) that are imaging the scene. By identifying this motion in each camera, we can begin to find the actual 3-D motion.·The principal constraint in the imaging process is high computational speed to satisfy the update process for the robotic arm parameters. Hence, we needed to be able to compute image motion quickly and robustly. The Hom-Schunck optic-flow algorithm (described below) is well suited for real-time computation on our PIPE image processing engine.·We have developed a new framework for computing optic-flow robustly using anestimation-theoretic framework [40]. While this work does not specifically use these ideas, we have future plans to try to adapt this algorithm to such a framework.Our method begins with an implementation of the Horn-Schunck method of computing optic-flow [22]. The underlying assumption of this method is theoptic-flow constraint equation, which assumes image irradiance at time t and t+σt will be the same:If we expand this constraint via a Taylor series expansion, and drop second- and higher-order terms, we obtain the form of the constraint we need to compute normal velocity:Where u and U are the velocities in image space, and Ix, Iy,and It are the spatial and temporal derivatives in the image. This constraint limits the velocity field in an image to lie on a straight line in velocity space. The actual velocity cannot be determined directly from this constraint due to the aperture problem, but one can recover the component of velocity normal to this constraint lineA second, iterative process is usually employed to propagate velocities in image neighborhoods, based upon a variety of smoothness and heuristic constraints. These added neighborhood constraints allow for recovery of the actual velocities u,v in the image. While computationally appealing, this method of determining optic-flow has some inherent problems. First, the computation is done on a pixel-by-pixel basis, creating a large computational demand. Second, the information on optic flow is only available in areas where the gradients defined above exist.We have overcome the first of these problems by using the PIPE image processor [26], [7]. The PIPE is a pipelined parallel image processing computer capable of processing 256 x 256 x 8 bit images at frame rate speeds, and it supports the operations necessary for optic-flow computation in a pixel parallel method (a typical image operation such as convolution, warping, addition subtraction of images can be done in one cycle-l/60 s).The second problem is alleviated by our not needing to know the actual velocities in the image. What we need is the ability to locate and quantify gross image motion robustly. This rules out simple differencing methodswhich are too prone to noise and will make location of image movement difficult. Hence, a set of normal velocities at strong gradients is adequate for our task, precluding the need to iteratively propagate velocities in the image.A. Computing Normal Optic-Flow in Real-TimeOur goal is to track a single moving object in real time. We are using two fixed cameras that image the scene and need to report motion in 3-D to a robotic arm control program. Each camera is calibrated with the 3-D scene, but there is no explicit need to use registered (i.e., scan-line coherence) cameras. Our method computes the normal component of optic-flow for each pixel in each camera image, finds a centurion of motion energy for each image, and then uses triangulation to intersect the back-projected centurions of image motion in each camera. Four processors are used in parallel on the PIPE. The processors are assigned as four per camera-two each for the calculation of X and Y motion energy centurions in each image. We also use a special processor board (ISMAP) to perform real-time histogram. The steps below correspond to the numbers in Fig. 3.1) The camera images the scene and the image is sent to processing stages in the PIPE.2) The image is smoothed by convolution with a Gaussian mask. The convolution operator is a built-in operation in the PIPE and it can be performed in one frame cycle. 3-4) In the next two cycles, two more images are read in, smoothed and buffered, yielding smoothed images Io and I1 and I2.The ability to buffer and pipeline images allows temporal operations on images, albeit at the cost of processing delays (lags) on output. There are now three smoothed images in the PIPE, with the oldest image lagging by 3/60 s.5) Images Io and I2, are subtracted yielding the temporal derivative It.6) In parallel with step 5, image I1is convolved with a 3 x 3 horizontal spatial gradient operator, returning the discrete form of I,. In parallel, the vertical spatial gradient is calculated yielding I, (not shown).7-8)The results from steps 5 and 6 are held in buffers and then are input to alook-up table that divides the temporal gradient at each pixel by the absolute value of the summed horizontal and vertical spatial gradients [which approximates thedenominator in (3)]. This yields the normal velocity in the image at each pixel. These velocities are then threshold and any isolated (i.e., single pixel motion energy) blobs are morphologically eroded. The above threshold velocities are then encoded as gray value 255. In our experiments, we threshold all velocities below 10 pixels per 60 ms to zero velocity.9-10) In order to get the centurion of the motion information, we need the X and Y coordinates of the motion energy. For simplicity, we show only the situation for the X coordinate. The gray-value ramp in Fig. 3 is an image that encodes the horizontal coordinate value (0-255) for each point in the image as a gray value.Thus, it is an image that is black (0) at horizontal pixel 0 and white (255) at horizontal pixel 255. If we logically and each pixel of the above threshold velocity image with the ramp image, we have an image which encodes high velocity pixels with their positional coordinates in the image, and leaves pixels with no motion at zero.11) By taking this result and histogram it, via a special stage of the PIPE which performs histograms at frame rate speeds, we can find the centurion of the moving object by finding the mean of the resulting histogram. Histogram the high-velocity position encoded images yields 256 16-bit values (a result for each intensity in the image). These 256 values can be read off the PIPE via a parallel interface in about 10 ms. This operation is performed in parallel to find the moving object’s Y censored (and in parallel for X and Y centurions for camera 2). The total associated delay time for finding the censored of a moving object becomes 15 cycles or 0.25 s.The same algorithm is run in parallel on the PIPE for the second camera. Once the motion centurions are known for each camera, they are back-projected into the scene using the camera calibration matrices and triangulated to find the actual 3-D location of the movement. Because of the pipelined nature of the PIPE, a new X or Y coordinate is produced every 1/60 s with this delay. While we are able to derive 3-D position from motion stereo at real-time rates, there are a number of sources of noise and error inherent in the vision system. These include stereo triangulation error, moving shadow s which are interpreted as object motion (we use no special lighting in the scene), and small shifts in censored alignments due to the different viewing angles of the cameras, which have a large baseline. The net effect of this is to create a 3-Dposition signal that is accurate enough for gross-level object tracking, but is not sufficient for the smooth and highly accurate tracking required for grasping the object.英文翻译自动跟踪和捕捉系统中的机械手系统摘要——许多机器人抓捕任务都被假设在了一个固定的物体上进行。

机械手设计英文参考文献原文翻译

翻译人：王墨墨山东科技大学文献题目：Automated Calibration of Robot Coordinatesfor Reconfigurable Assembly Systems翻译正文如下：针对可重构装配系统的机器人协调性的自动校准T.艾利，Y.米达，H.菊地，M.雪松日本东京大学，机械研究院，精密工程部摘要为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。

当一种新的设备被装配到流水工作线时，应使其具备校准系统。

该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。

摄像机被随机放置，然后对每一个机械手执行一组动作。

通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。

最佳的结果精度为均方根值0.16毫米。

关键词：装配，校准，机器人1 介绍21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性[1]。

系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。

关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。

他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的配置。

然而，协同只是目的的一部分。

在现实生产系统中，例如工作空间这类物理问题应当被有效解决。

为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。

作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。

该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。

我们可以把该功能称为“插入与生产”。

在重构过程中，校准的装配机器人是非常重要的。

这是因为，需要用它们来测量相关主体的特征，以便在物理主体之间建立良好的协作关系。

这一调整必须要达到表1中所列到的多种标准要求。

机械手臂外文文献翻译、中英文翻译、外文翻译

外文出处：《Manufacturing Engineering and Technology—Machining》附件1：外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. I ndustrial robot is an important branch of industrial robots. It features can be program med to perform tasks in a variety of expectations, in both structure and performance a dvantages of their own people and machines, in particular, reflects the people's intellig ence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad p rospects for development. With the development of industrial automation, there has be en CNC machining center, it is in reducing labor intensity, while greatly improved lab or productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device . The former time-consuming and labor intensive, inefficient; the latter due to design c omplexity, require more relays, wiring complexity, vulnerability to body vibration inte rference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a stron g anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, elec trical hydraulic technology, automatic control technology, sensor technology and com puter technology and other fields of science, is a cross-disciplinary integrated technol ogy.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries thatEurope and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processin g plants have also emerged in mechanical watches began to become increasingly inter ested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the wor kpiece handling, steering, transmission or operation of brazing, spray gun, wrenches a nd other tools for processing and assembly operations since, which has more and mor e attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of part s loading time is not annoying, and labor productivity is not high, the cost of producti on major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long a s there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve saf e production; particularly in the high-temperature, high pressure, low temperature, lo w pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other en ergy-driven comparison have the following advantages: 1. Air inexhaustible, used late r discharged into the atmosphere, does not require recycling and disposal, do not pollu te the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pre ssure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With th e hydraulic transmission, compared to its faster action and reaction, which is one of th e advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, n ot easy to plug the pipeline. But there are also places where it fly in the ointment: 1. A s the compressibility of air, resulting in poor aerodynamic stability of the work, resulti ng in the implementing agencies as the precision of the velocity and not easily control led. 2. As the use of low atmospheric pressure, the output power can not be too large; i n order to increase the output power is bound to the structure of the entire pneumatic s ystem size increased.With pneumatic drive and compare with other energy sources drive has the followin g advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage wo uld not be a serious impact on production. Viscosity of air is small, the pipeline pressu re loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefor e the material and manufacturing accuracy requirements can be lowered. In general, re ciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be saf ely used in flammable, explosive and the dust big occasions. Also easy to realize auto matic overload protection.Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complic ated, but the basic form is the same as the composition of the , Usually by the implem enting agencies, transmission systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawlin g institutions, is used to clamp and release the workpiece, and similar to human finger s, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed .2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system c ommonly used manipulator mechanical transmission, hydraulic transmission, pneuma tic and electric power transmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain p rocedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves a nd circuits can be achieved dynamic drive system control, so that implementing agenc ies according to the requirements of action. Action will have to use complex program mable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the oper ation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third cat egory is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. T his mechanical hand in foreign countries known as the "Mechanical Hand", which is t he host of services, from the host-driven; exception of a few outside the working proc edures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handlin g robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance th e hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, doubl e-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process develo ped a new type of device. In recent years, as electronic technology, especially comput er extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of ro bot, allowing robot to better achieved with the combination of mechanization and auto mation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weig ht characteristics when compared with manual large, therefore, mechanical hand has b een of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lat he, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to ass emble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous go ods and hazardous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application ne eds, creating customized cases. Manual operation of a simulation of the automatic ma chinery, it can be a fixed program draws ﹑ handling objects or perform household to ols to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and a utomation of production, instead of people in hazardous environments manual operati on, improving working conditions and ensure personal safety. The late 20th century, 4 0, the United States atomic energy experiments, the first use of radioactive material ha ndling robot, human robot in a safe room to manipulate various operations and experi mentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place t he work piece material, but also as an auxiliary device in automatic machine tools, ma chine tools, automatic production lines and processing center applications, the comple tion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly b y the hand and sports institutions. Agencies with the use of hands and operation of obj ects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑﹑ electrical device dri vers. Manipulator can be achieved independently retractable ﹑ rotation and lifting m ovements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgic al industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handling objects or operating tools, automatic operation device. It can replace hum an labor in order to achieve the production of heavy mechanization and automation th at can operate in hazardous environments to protect the personal safety, which is wide ly used in machinery manufacturing, metallurgy, electronics, light industry and nuclea r power sectors. Mechanical hand tools or other equipment commonly used for additio nal devices, such as the automatic machines or automatic production line handling an d transmission of the workpiece, the replacement of cutting tools in machining centers , etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as m echanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the wor kpiece (or tool) components, according to grasping objects by shape, size, weight, mat erial and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the com pletion of a variety of hand rotation (swing), mobile or compound movements to achie ve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and mo ving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, esp ecially computer extensive use of robot development and production of high-tech fiel ds has become a rapidly developed a new technology, which further promoted the dev elopment of robot, allowing robot to better achieved with the combination of mechani zation and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipu lator has been applied more and more widely, in the machinery industry, it can be use d for parts assembly, work piece handling, loading and unloading, particularly in the a utomation of CNC machine tools, modular machine tools more commonly used. At pr esent, the robot has developed into a FMS flexible manufacturing systems and flexibl e manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a f lexible manufacturing cell, it was adapted to small and medium volume production, y ou can save a huge amount of the work piece conveyor device, compact, and adaptabl e. When the work piece changes, flexible production system is very easy to change wi ll help enterprises to continuously update the marketable variety, improve product qua lity, and better adapt to market competition. At present, China's industrial robot techno logy and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robo t research and development of a direct impact on raising the level of automation in Ch ina, from the economy, technical considerations are very necessary. Therefore, the stu dy of mechanical hand design is very meaningful.附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

有关助力机械臂的参考文献

助力机械臂是一种具备力传感和力反馈功能的机械臂。

它通过感知外界环境的力信息，并根据力指令，实现对机械臂的辅助力控制和力反馈。

助力机械臂在工业制造、康复医疗、协作机器人等领域具有广泛的应用前景。

本文将介绍助力机械臂的相关参考文献，并对其研究内容和应用进行概述。

1.Dai J. et al., “Design and control of a lower limb exoskeleton for robot-assisted gait training,” IEEE Transactions on Mechatronics, vol. 23, no. 3,pp. 1259-1270, June 2018. 该文研究了一种用于机器人辅助步态训练的下肢外骨骼的设计和控制。

该外骨骼结合了助力机械臂的设计理念，可以对患者的下肢进行辅助力控制和力反馈，提高步态训练的效果。

2.Battaglia E. et al., “Design and control of a robotic exoskeleton forupper limb rehabilitation,” R obotics and Autonomous Systems, vol. 94, pp. 13-24, May 2017. 该文介绍了一种用于上肢康复的机器人外骨骼的设计和控制。

该外骨骼采用助力机械臂技术，通过力传感器感知患者的手臂力信息，并通过控制算法实现对手臂的辅助力控制，促进上肢康复训练。

3.Zhao G. et al., “Design and control of an upper limb exoskeleton forrehabilitation,” IEEE Transactions on Neural Systems and RehabilitationEngineering, vol. 27, no. 5, pp. 866-875, May 2019. 该文研究了一种用于上肢康复训练的上肢外骨骼的设计和控制。

机械手臂应用领域的外文文献以及翻译

机械手臂应用领域的外文文献以及翻译1. Introduction机械手臂是一种用于执行各种任务的自动化设备，其应用领域广泛。

本文档提供了一些关于机械手臂应用领域的外文文献，并附有简要的翻译。

2. 文献1: "Advancements in Robotic Arm Control Systems"- Author: John Smith- Published: 2020这篇文献详细介绍了机械手臂控制系统的最新进展。

作者讨论了各种控制算法、传感器和执行器的应用，以提高机械手臂的性能和精确度。

3. 文献2: "Applications of Robotic Arms in Manufacturing Industry"- Author: Emily Chen- Published: 2018作者在这篇文献中研究了机械手臂在制造业中的应用。

她列举了多个实例，包括机械手臂在装配、焊接和搬运等任务中的应用，以及通过使用机械手臂能够提高生产效率和质量的案例。

4. 文献3: "Robot-Assisted Surgery: The Future of Medical Industry"- Author: David Johnson- Published: 2019这篇文献探讨了机械手臂在医疗行业中的应用，特别是机器人辅助外科手术。

作者解释了机械手臂在手术过程中的优势，包括更小的切口、更高的精确度和减少术后恢复时间等方面。

5. 文献4: "Exploring the Potential of Robotic Arms in Agriculture"- Author: Maria Rodriguez- Published: 2021这篇文献研究了机械手臂在农业领域的潜力。

作者探讨了机械手臂在种植、收割和除草等农业任务中的应用，以及如何通过机械化技术改善农业生产的效率和可持续性。

工业机器人中英文翻译、外文文献翻译、外文翻译

工业机器人中英文翻译、外文文献翻译、外文翻译外文原文：RobotAfter more than 40 years of development, since its first appearance till now, the robot has already been widely applied in every industrial fields, and it has become the important standard of industry modernization.Robotics is the comprehensive technologies that combine with mechanics, electronics, informatics and automatic control theory. The level of the robotic technology has already been regarded as the standard of weighing a national modern electronic-mechanical manufacturing technology.Over the past two decades, the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can perform certain basic more quickly and accurately than humans, they are being increasingly used in various manufacturing industries.With the maturation and broad application of net technology, the remote control technology of robot based on net becomes more and more popular in modern society. It employs the net resources in modern society which are already three to implement the operatio of robot over distance. It also creates many of new fields, such as remote experiment, remote surgery, and remote amusement. What's more, in industry, it can have a beneficial impact upon the conversion of manufacturing means.The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements. The term “reprogrammable” implies two things: The robot operates according to a written program, and this program can be rewritten to accommodate a variety of manufacturing tasks. The term “multipurpose” means that the robot can perform many different functions, depending on the program and tooling currently in use.Developed from actuating mechanism, industrial robot can imitation some actions and functions of human being, which can be used to moving all kinds of material components tools and so on, executing mission by execuatable program multifunctionmanipulator. It is extensive used in industry and agriculture production, astronavigation and military engineering.During the practical application of the industrial robot, the working efficiency and quality are important index of weighing the performance of the robot. It becomes key problems which need solving badly to raise the working efficiencies and reduce errors of industrial robot in operating actually. Time-optimal trajectory planning of robot is that optimize the path of robot according to performance guideline of minimum time of robot under all kinds of physical constraints, which can make the motion time of robot hand minimum between two points or along the special path. The purpose and practical meaning of this research lie enhance the work efficiency of robot.Due to its important role in theory and application, the motion planning of industrial robot has been given enough attention by researchers in the world. Many researchers have been investigated on the path planning for various objectives such as minimum time, minimum energy, and obstacle avoidance.The basic terminology of robotic systems is introduced in the following:A robot is a reprogrammable, multifunctional manipulator designed to move parts, materials, tools, or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions, presented in the following paragraphs that give a complete picture of a robotic system.Preprogrammed locations are paths that the robot must follow to accomplish work. At some of these locations, the robot will stop and perform some operation, such as assembly of parts, spray painting, or welding. These preprogrammed locations are stored in the robot’s memory and are recalled later for continuous operation. Furthermore, these preprogrammed locations, as well as other programming feature, an industrial robot is very much like a computer, where data can be stored and later recalled and edited.The manipulator is the arm of the robot. It allows the robot to bend, reach, and twist. This movement is provided by the manipulator’s axes, also called the degrees of freedom of the robot. A robot can have from 3 to 16 axes. The term degrees of freedom will always relate to the number of axes found on a robot.The tooling and grippers are not part of the robotic system itself: rather, they areattachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts, spot-weld, paint, arc-well, drill, deburr, and do a variety of tasks, depending on what is required of the robot.The robotic system can also control the work cell of the operating robot. The work cell of the robot is the total environment in which the robot must perform its task. Included within this cell may be the controller, the robot manipulator, a work table, safety features, or a conveyor. All the equipment that is required in order for the robot to do its job is included in the work cell. In addition, signals from outside devices can communicate with the robot in order to tell the robot when it should assemble parts, pick up parts, or unload parts to a conveyor.The robotic system has three basic components: the manipulator, the controller, and the power source.ManipulatorThe manipulator, which dose the physical work of the robotic system, consists of two sections: the mechanical section and the attached appendage. The manipulator also has a base to which the appendages are attached.The base of the manipulator is usually fixed to the floor of the work area. Sometimes, though, the base may be movable. In this case, the base is attached to either a rail or a track, allowing the manipulator to be moved from one location to anther.As mentioned previously, the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight, movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base, which, in turn, is secured to a mounting. This mounting ensures that the manipulator will remain in one location.At the end of the arm, a wrist is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.The manipulator’s axes allow it to perform work within a certain area. This area is called the work cell of the robot, and its size corresponds to the size of the manipulator. As the robot’s physical size increases, the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system. The actuator, or drive system, allows the various axes to move within the work cell. The drive system can use electric, hydraulic, or pneumatic power. The energy developed by the drive system is converted to mechanical power by various mechanical drive systems. The drive systems are coupled through mechanical linkages. These linkages, in turn, drive the different axes of the robot. The mechanical linkages may be composed of chains, gears, and ball screws.ControllerThe controller in the robotic system is the heart of the operation. The controller stores preprogrammed information for later recall, controls peripheral devices, and communicates with computers within the plant for constant updates in production.The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hand-held teach pendant. This information is stored in the memory of the controller for later recall. The controller stores all program data for the robotic system. It can store several different programs, and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example, the controller has an input line that identifies when a machining operation is completed. When the machine cycle is completed, the input line turns on, telling the controller to position the manipulator so that it can pick up the finished part. Then, a new part is picked up by the manipulator and placed into the machine. Next, the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events. This type of controller operates with a very simple robotic system. The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics. This is, they are microprocessor-operated. These microprocessors are either 8-bit, 16-bit, or 32-bit processors. This power allows the controller to the very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between therobot manipulator and the controller maintains a constant update of the location and the operation of the system. The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part of a computer-assisted manufacturing (CAM) system.As the basic definition stated, the robot is a reprogrammable, multifunctional manipulator. Therefore, the controller must contain some type of memory storage. The microprocessor-based systems operate in conjunction with solid-state memory devices. These memory devices may be magnetic bubbles, random-access memory, floppy disks, or magnetic tape. Each memory storage device stores program information for later recall or for editing.Power supplyThe power supply is the unit that supplies power to the controller and the manipulator. Two types of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power is used for driving the various axes of the manipulator. For example, if the robot manipulator is controlled by hydraulic or pneumatic drives, control signals are sent to these devices, causing motion of the robot.For each robotic system, power is required to operate the manipulator. This power can be developed from either a hydraulic power source, a pneumatic power source, or an electric power source. These power sources are part of the total components of the robotic work cell.Classification of RobotsIndustrial robots vary widely in size, shape, number of axes, degrees of freedom, and design configuration. Each factor influences the dimensions of the robot’s working envelope or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as blew.Fixed and Variable-Sequence Robots. The fixed-sequence robot (also called a pick-and place robot) is programmed for a specific sequence of operations. Its movements are from point to point, and the cycle is repeated continuously. Thevariable-sequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation.Playback Robot. An operator leads or walks the playback robot and its end effector through the desired path. The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled Robot. The numerically controlled robot is programmed and operated much like a numerically controlled machine. The robot is servo-controlled by digital data, and its sequence of movements can be changed with relative ease.Intelligent Robot. The intellingent robot is capable of performing some of the functions and tasks carried out by human beings. It is equipped with a variety of sensors with visual and tactile capabilities.Robot ApplicationsThe robot is a very special type of production tool; as a result, the applications in which robots are used are quite broad. These applications can be grouped into three categories: material processing, material handling and assembly.In material processing, robots use to process the raw material. For example, the robot tools could include a drill and the robot would be able to perform drilling operations on raw material.Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed reliably and repeatedly with robots, thereby improving quality and reducing scrap losses.Assembly is another large application area for using robotics. An automatic assembly system can incorporate automatic testing, robot automation and mechanical handling for reducing labor costs, increasing output and eliminating manual handling concerns.Hydraulic SystemThere are only three basic methods of transmitting power: electrical, mechanical, and fluid power. Most applications actually use a combination of the three methods to obtain the most efficient overall system. To properly determine which principle method to use, it is important to know the salient features of each type. For example, fluidsystems can transmit power more economically over greater distances than can mechanical type. However, fluid systems are restricted to shorter distances than are electrical systems.Hydraulic power transmission systems are concerned with the generation, modulation, and control of pressure and flow, and in general such systems include:1.Pumps which convert available power from the prime mover to hydraulicpower at the actuator.2.Valves which control the direction of pump-flow, the level of powerproduced, and the amount of fluid-flow to the actuators. The power level isdetermined by controlling both the flow and pressure level.3.Actuators which convert hydraulic power to usable mechanical power outputat the point required.4.The medium, which is a liquid, provides rigid transmission and control aswell as lubrication of components, sealing in valves, and cooling of thesystem.5.Connectors which link the various system components, provide powerconductors for the fluid under pressure, and fluid flow return totank(reservoir).6.Fluid storage and conditioning equipment which ensure sufficient quality andquantity as well as cooling of the fluid..Hydraulic systems are used in industrial applications such as stamping presses, steel mills, and general manufacturing, agricultural machines, mining industry, aviation, space technology, deep-sea exploration, transportation, marine technology, and offshore gas and petroleum exploration. In short, very few people get through a day of their lives without somehow benefiting from the technology of hydraulics.The secret of hydraulic system’s success and widespread use is its versatility and manageability. Fluid power is not hindered by the geometry of the machine as is the case in mechanical systems. Also, power can be transmitted in almost limitless quantities because fluid systems are not so limited by the physical limitations of materials as are the electrical systems. For example, the performance of an electromagnet is limited by the saturation limit of steel. On the other hand, the powerlimit of fluid systems is limited only by the strength capacity of the material.Industry is going to depend more and more on automation in order to increase productivity. This includes remote and direct control of production operations, manufacturing processes, and materials handling. Fluid power is the muscle of automation because of advantages in the following four major categories.1.Ease and accuracy of control. By the use of simple levers and push buttons,the operator of a fluid power system can readily start, stop, speed up or slowdown, and position forces which provide any desired horsepower withtolerances as precise as one ten-thousandth of an inch. Fig. shows a fluidpower system which allows an aircraft pilot to raise and lower his landinggear. When the pilot moves a small control valve in one direction, oil underpressure flows to one end of the cylinder to lower the landing gear. To retractthe landing gear, the pilot moves the valve lever in the opposite direction,allowing oil to flow into the other end of the cylinder.2.Multiplication of force. A fluid power system (without using cumbersomegears, pulleys, and levers) can multiply forces simply and efficiently from afraction of an ounce to several hundred tons of output.3.Constant force or torque. Only fluid power systems are capable of providingconstant force or torque regardless of speed changes. This is accomplishedwhether the work output moves a few inches per hour, several hundred inchesper minute, a few revolutions per hour, or thousands of revolutions perminute.4.Simplicity, safety, economy. In general, fluid power systems use fewermoving parts than comparable mechanical or electrical systems. Thus, theyare simpler to maintain and operate. This, in turn, maximizes safety,compactness, and reliability. For example, a new power steering controldesigned has made all other kinds of power systems obsolete on manyoff-highway vehicles. The steering unit consists of a manually operateddirectional control valve and meter in a single body. Because the steering unitis fully fluid-linked, mechanical linkages, universal joints, bearings, reductiongears, etc. are eliminated. This provides a simple, compact system. Inapplications. This is important where limitations of control space require asmall steering wheel and it becomes necessary to reduce operator fatigue.Additional benefits of fluid power systems include instantly reversible motion, automatic protection against overloads, and infinitely variable speed control. Fluid power systems also have the highest horsepower per weight ratio of any known power source. In spite of all these highly desirable features of fluid power, it is not a panacea for all power transmission problems. Hydraulic systems also have some drawbacks. Hydraulic oils are messy, and leakage is impossible to completely eliminate. Also, most hydraulic oils can cause fires if an oil leak occurs in an area of hot equipment.Pneumatic SystemPneumatic system use pressurized gases to transmit and control power. As the name implies, pneumatic systems typically use air (rather than some other gas ) as the fluid medium because air is a safe, low-cost, and readily available fluid. It is particularly safe in environments where an electrical spark could ignite leaks from system components.In pneumatic systems, compressors are used to compress and supply the necessary quantities of air. Compressors are typically of the piston, vane or screw type. Basically a compressor increases the pressure of a gas by reducing its volume as described by the perfect gas laws. Pneumatic systems normally use a large centralized air compressor which is considered to be an infinite air source similar to an electrical system where you merely plug into an electrical outlet for electricity. In this way, pressurized air can be piped from one source to various locations throughout an entire industrial plant. The compressed air is piped to each circuit through an air filter to remove contaminants which might harm the closely fitting parts of pneumatic components such as valve and cylinders. The air then flows through a pressure regulator which reduces the pressure to the desired level for the particular circuit application. Because air is not a good lubricant (contains about 20% oxygen), pneumatics systems required a lubricator to inject a very fine mist of oil into the air discharging from the pressure regulator. This prevents wear of the closely fitting moving parts of pneumatic components.Free air from the atmosphere contains varying amounts of moisture. This moisture can be harmful in that it can wash away lubricants and thus cause excessive wear andcorrosion. Hence, in some applications, air driers are needed to remove this undesirable moisture. Since pneumatic systems exhaust directly into the atmosphere , they are capable of generating excessive noise. Therefore, mufflers are mounted on exhaust ports of air valves and actuators to reduce noise and prevent operating personnel from possible injury resulting not only from exposure to noise but also from high-speed airborne particles.There are several reasons for considering the use of pneumatic systems instead of hydraulic systems. Liquids exhibit greater inertia than do gases. Therefore, in hydraulic systems the weight of oil is a potential problem when accelerating and decelerating and decelerating actuators and when suddenly opening and closing valves. Due to Newton’s law of motion ( force equals mass multiplied by acceleration ), the force required to accelerate oil is many times greater than that required to accelerate an equal volume of air. Liquids also exhibit greater viscosity than do gases. This results in larger frictional pressure and power losses. Also, since hydraulic systems use a fluid foreign to the atmosphere , they require special reservoirs and no-leak system designs. Pneumatic systems use air which is exhausted directly back into the surrounding environment. Generally speaking, pneumatic systems are less expensive than hydraulic systems.However, because of the compressibility of air, it is impossible to obtain precise controlled actuator velocities with pneumatic systems. Also, precise positioning control is not obtainable. While pneumatic pressures are quite low due to compressor design limitations ( less than 250 psi ), hydraulic pressures can be as high as 10,000 psi. Thus, hydraulics can be high-power systems, whereas pneumatics are confined to low-power applications. Industrial applications of pneumatic systems are growing at a rapid pace. Typical examples include stamping, drilling, hoist, punching, clamping, assembling, riveting, materials handling, and logic controlling operations.工业机器人机器人自问世以来到现在，经过了40多年的发展，已被广泛应用于各个工业领域，已成为工业现代化的重要标志。

机械手臂外文文献翻译、中英文翻译、外文翻译

机械手臂外文文献翻译、中英文翻译、外文翻译外文出处：《Manufacturing Engineering and Technology—Machining》附件1：外文原文XXXRobot XXX decades as high-XXX branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, XXX the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, XXX, the upper and lower common in CNC machining processesmaterial, usually still use XXX relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; XXX, require more relays, XXX, XXX interference, XXX, XXX Programmable Logic Controller PLC-controlled robot control system formaterials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system'XXX, reduced maintenance rate,and XXXmechanics, mechanics, XXX, XXX, XXX and other fields of science, is a cross-disciplinary XXX.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmedto change in multi-functional machine, which has multiple degrees of freedom can beused to carry an object in order to XXX China, plastic products industry, although still a labor-intensive, XXX1Europe and the United XXX, XXX-intensive South China, East China's coastal areas, XXX, because they have to face a high turnover rate of workers, as well as for theworkers to pay work-related injuries XXX.With the rapid development of China's industrial production, especially the reformand XXX workpiece handling, steering, XXX brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imitate the manual part of the action,according toa given program, track and requirements for automatic capture, XXX.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing wereinjured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answeris yes, but the robot can come to replace it.XXX can increase XXX; XXX, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, XXX the normal working people. Here I would like to think of designing a robot tobe used in actual production.XXX power: pneumatic robot refersto the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used XXX, does not require recycling and disposal,do not pollute the XXX. (Concept of environmental protection) 2. Air stick is small, the pi2peline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and XXX. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, XXX the work, XXX as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantages:Air inexhaustible, used XXX, without recycling anddisposal, do not pollute the XXX or a small amount of leakage would not be a XXX of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, XXX general, reciprocating thrust in 1 to 2 tons XXX.Compared with the hydraulic transmission, and its faster action and reaction, XXX.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in flammable, XXX.Second, XXX, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmission systems, control systems and auxiliary devices compose3d.1.Implementing agenciesXXX hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, XXXXXX used to support the arm can also be made mobile as needed.2. TransmissionXXX, hydraulic transmission, XXX.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generallynot set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that XXX of action. Action will have to use complex programmable robot controller, the micro-computer control.Three, XXX characteristicsXXX: the first is the general machinerydoes not require manual hand. It is an independent not affiliated with a particular hostdevice. It can be programmed according to the needs of thetask to complete the operation of the provisions. It is XXX, alsohas general machinery, memory, XXX second categoryis the need to manually do it, called the operation of aircraft. It originated in the atom,military industry, first through the operation of machines to complete a particular job,XXX such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the XXX auto4matic lines, to solve the machine up and down the XXX known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the XXX, XXX.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane,labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)Four, industrial machinery, application of handXXX of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has XXX, XXX, XXX.Although the robot is not as flexible as staff, but it has to the continuous duplicationof work and labor, I do not know fatigue, not afraid of danger, XXX characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, forexample:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) XXX industry, it can beused to assemble printed circuit boards, XXX industry It can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigu5XXX.(4) XXX, XXX, XXX..(5) XXX.(6), XXX and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-savingspreader, manual Transfer machine is a kind of weightlessness of manual load system,a novel, time-XXX,belonging to kinds of non-standard design of series products. Customer application needs, XXX of the automatic machinery, it can be a fixed program draws﹑XXX. Application of robot can replace the peopleengaged in monotonous﹑XXX, XXX of production, instead of people in hazardous XXX, XXX personal safety. The late 20th century, 40, the United XXX experiments, the first use of radioactive material handling robot, human robot in a safe room to XXX 50 years later, XXX, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automaticmachine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place XXX operation. Robot body mainly by the hand and sports XXX with the use of hands and operation of objects of different occasions, often there are clamping﹑XXX﹑﹑XXX﹑XXX, generally 2 to 3 degrees of XXX industry, machinery manufacture, XXX some of the staff and arm motor function, a fixd procedure for the captu6re, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy XXX the personal safety, which is XXX, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other XXX used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, XXX centers, etc. generally do not have a separate control device. Some operating devices XXX.XXX and sports XXX. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size,weight, material and XXX structural forms, such as clamp type,type and adsorption-based care such as holding. Sports organizations, XXX (swing), XXX the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is XXX a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has XXX, XXX, XXX. Robot can replace humans completed the risk of duplication ofboring work, to reduce human XXX widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloadingXXX component of the FMC. The machine tool equip7XXX a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help XXX, improve product quality, and better adapt to market XXX, China'XXX isa certain distance, application andindustrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, XXX, the study of mechanical hand design is very meaningful.8附件1：外文资料翻译译文呆板手机械手是近几十年发展起来的一种高科技自动化生产设备。

机械手臂英文

Agile Robot Development(aRD):A Pragmatic Approach to Robotic SoftwareBerthold B¨a uml and Gerd HirzingerInstitute of Robotics and MechatronicsDLR–German Aerospace Center82234Wessling,GermanyEmail:berthold.baeuml@dlr.deAbstract—Mechatronic systems are reaching a new level of complexity,both for the single component and for overall systems making necessary a new software concept for the development and usage of such systems.Here we introduce the agile Robot Development(aRD)concept,which is aﬂexible,pragmatic and distributed software design to support and simplify the develop-ment of complex mechatronic and robotic systems.It gives easy access to scalable computing performance(even in hard realtime) and is motivated by the abstract view on a robotic system as being a decentral net of calculation blocks and communication links. We discuss design considerations and an implementation of this concept and demonstrate its performance withﬁrst applications.I.I NTRODUCTIONOur Institute of Robotics and Mechatronics has a long tradition in building highly integrated mechatronic systems, especially the DLR Light-Weight-Robot arms(LBR)and DLR-Hands[1]including the control algorithms and software infrastructure.As such mechatronic systems are now reaching a new level of complexity,both for the single component and for overall systems,a new software concept was necessary to make the development and usage of such systems tractable. For the single robotic component the complexity stems from the high number of degrees of freedom(DOF)and sensors and the necessity of sophisticated control algorithms requiring con-siderable computational power.In overall systems complexity naturally arises through the delicate and tight interaction of several subsystems as,e.g.in the ROKVISS experiment[2] in space robotics with a robotic arm at the international space station ISS and a telepresence station on earth or the Robutler [3]in service robotics with arm,hand and camera on a mobile platform.This also makes scalable computational resources an essential requirement,both for the non-realtime and hard realtime parts.Our robot control software successfully used so far was originally designed for one robot arm with a gripper in a monolithic implementation.This design,however,not only made it increasingly harder to build more complex systems, but also led to proprietary extensions and further to several different strands of robot control systems.This,of course, had consequences with regard to maintenance and provoked incompatibilities.In the process of analyzing the problems of increasing system complexity it became clear that the currentlyavailable Fig.1.An example for a complex robot system:the new DLR Two-Hand-Arm-Torso(THAT)with43DOF.This system is built from two DLR-LBR-III arms with7DOF each,two DLR-Hand-II with13DOF each[1]and a torso with3DOF.computing power of commodity systems together with their fast communication links and high-speed buses to the robot components allows for a completely new view on the system architecture of a robot system.This also led to the insight that a mere redesign of the old robot control software was not an adequate solution but that a completely new software concept which makes full use of modern hardware possibilities was necessary.Another important point with strong inﬂuence on the re-quirements for a new software concept is the fact,that a complex robot system is developed by a heterogeneous team of researchers from variousﬁelds.This implies that the software concept has to support the speciﬁc tools from the different ﬁelds and should allow to work independently on different components,but still remains simple and easy to use. Finally,for building complex systems it is highly advanta-geous that the software concept supports rapid prototyping to allow an iterative development process.In the last years a number of software concepts and frame-works have been proposed to address these challenges of complex robotic systems.Prominent representatives are ORCA [4],MARIE[5],MIRO[6],Player[7],OROCOS[8]and MCA[9].They are all based on the idea,that a complex robotic system should be composed from interacting modulesProceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems October 9 - 15, 2006, Beijing, Chinaor components in the sense of the component based software engineering approach[10]with all its beneﬁts asﬂexibility, code reuse or decoupling of the developmentﬂow in a team. To allow the components to be distributed on a network of heterogeneous computers all approaches also provide tools for simplifying and standardizing communication.These concepts were successfully used in applications, where realtime constraints are relatively soft,e.g.in theﬁeld of mobile robotics.But the current implementation of these concepts have not shown that they can easily reach realtime rates above some100Hz in complex applications with high numbers of DOFs.This is signiﬁcantly slower than the high rates of1kHz to some10kHz with hard realtime constraints needed for mechatronical systems we are working on. Therefore we present in this paper the“agile Robot Devel-opment”(aRD)concept,aﬂexible,pragmatic and distributed software concept especially designed to support the develop-ment of complex mechatronic and robotic systems.It gives easy access to scalable computing performance(even in hard realtime)and is based on the abstract view on a robotic system as being a decentral net of calculation blocks and communication links.The paper is organized as follows.First we give a more detailed problem analysis and list of requirements.In the next section we introduce our aRD concept that meets the iden-tiﬁed requirements and describe its current implementation. Then,we present performance examples andﬁrst applications. Finally,we conclude with future development directions.II.D ESIGN C ONSIDERATIONSThe design of a software concept is heavily inﬂuenced by the computing hardware available for implementing it on.In robotics in addition it heavily depends on the mechatronic architecture,that is the details of the mechanics,electronics and control.A.State of the ArtFirst we take a look at the state of the art of mechatronics and computing hardware.1)Mechatronics:Here we present some features of the mechatronic architecture of robots we are currently working with or which are just going to be developed in our institute.•Single robotic components,e.g.the DLR-Hand-II,have 13DOF and more than100sensors(position,force-torque,temperature,...).The next generation with40 DOF for an integrated hand-arm-system is in work.•Complex compound robot systems,e.g.the DLR Two-Hand-Arm-Torso(THAT)system,have more than43 DOF and about100DOF in the next generation.•Decentral electronics near the joints for the conversion of sensor signals and actuator commands allows the use of digital serial buses in the robots.•Fast buses to the robots with bandwith of4MBit up to 1GBit allow for high communication rates(e.g.10kByte of data at a rate of10kHz)•Rates of up to3kHz are used for controlling a single com-ponent(joint controller)but also for running sophisticated controllers for all DOF of a compound system as needed for gravitation compensation or impedance control[11].The rate will reach10kHz in the near future.The conclusion one can draw from these mechatronic fea-tures is,that despite the high complexity due to the high number of DOF and sensors and the high control rates for sophisticated controllers,the high-speed buse still allow for fullﬂexibility in connecting the robots to the computing hardware.2)Computer Hardware:The dramatic growth of perfor-mance in computing hardware makes it possible to use com-modity systems even for running complex algorithms in hard realtime.Moreover the use of standard PC components makes it also easy and cheap to participate on future developments. Here we summarize important features of actual PC hardware.•Clock rate of>3GHz.•Multi-Core and Multi-CPU(e.g.Quad-Dualcore-Opteron with54GFLOPS[12])systems are standard.•A Cluster with40CPU-Coresﬁts into a small rack(e.g.30cm x45cm x75cm for the Dell PowerEdge1855).•Performance growth is still exponential with a doubling every18month.•Fast communication with low delay is cheap and easy to handle,e.g.for1GBit ethernet transfer of a1.5kByte packet takes15µs.•Flexible communication infrastructure by switched ether-net or a multitude of decoupled point-to-point links(by using multiport adapters20ethernet ports in one PC are easy to do).3)Conclusion:The currently available computing power of commodity systems together with their fast communication links and the high-speed buses connecting the robot compo-nents allows to buildﬂexible,distributed computing archi-tectures with scalable computing performance even if hard realtime is required.This offers the possibility to decouple the overall system architecture from the hardware details and to take a functional view on a robot system.An appropriate software concept has to provide both tools for designing this functional view and to mechanisms to map this functional design onto the actual computating and robot hardware.B.Functional ViewToﬁnd a good deﬁnition of a functional view we start by giving an overview of a typical robot system(see Fig.2). Such a system consists of a number of robot components connected to a realtime target running the controller loops.Ap-plications for user interaction(e.g.3D-viewer,GUI)and higler level intelligence(e.g.vision system,trajectory planning)are implemented on a network of non-realtime computers.Those applications can communicate with the realtime target and also possibly have a link to a remote command station,coupled by a W AN or the internet.Fig.2.Overview of the system architecture and computing hardware of a complex robot system.A number of robot components are connected to a realtime target running the control loops.Applications for user interaction and higher-level intelligence are executed on a network of non-realtime computers and communicate with the realtime target.In addition there is a development host and a host for low-level monitoring and conﬁguration.Additional hosts run tools for development(edit-compile-debug)and tools that allow for monitoring and proﬁling of the different parts of the system during runtime.Leaving the details of the computer architecture aside and reﬁning the structure of the functional modules one ends up with a scheme as in Fig.3.All of the functionality of the system is now represented by blocks running in realtime or non-realtime.They perform calculations and communicate with each other.Typically the granularity of the realtime part isﬁner,as each block usually performs only a small amount of deterministic calculation.On the other hand,blocks in the non-realtime part represent more monolithic applications and can perform elaborate algorithms on complex internal representations.It is therefore straightforward to see a robot system as a decentral net of calculation blocks and communication links, in this way deﬁning the functional view on the system. This abstraction not only helps in designing the architecture of a robot system,but also paves the way for a component-based software engineering approach[10]if supported by the software concept.The component-based approach is particu-larly well suited as a complex robot system is developed by a team of researchers.If in addition the concept allows changing the structure of the net in a simple andﬂexible way,rapid prototyping is also naturally supported.Besides the wish for a simple andﬂexible software concept, one would pragmatically like to keep the implementation from becoming too complicated.What is following are the more detailed design consider-ations and requirements of the net of communicating blocks taking into account all of the above discussed issues.1)Equality of Blocks:All blocks are euqal in the sense, that they all can be sources and sinks for data and there is no distinction in client or server blocks.Such a distinction would be less general and unnatural for most blocks,e.g.a controller block.Also the connection scheme is arbitrary.A block’s output port can be connected to any other block’s input ports,as long as the data formats match.2)Execution Order:Each block is an execution entity,e.g.a process or thread,and can have its own priority.This allows to schedule the available processing time between the blocks and implicitly deﬁnes the execution order.In practice it is often more efﬁcient and simpler to aggregate blocks into groups, where each group is an execution entity and iterates through its blocks.A block can be executed periodically with its own inherent rate or be triggered by new data arriving at its input port.The latter variant gives theﬂexibility to implement systems with very efﬁcient use of execution time but implies the danger of deadlocks and needs delicate priority adjustment. Especially for blocks running in hard realtime(e.g.con-trollers)and having robot hardware connected to them it is important to be synchronized.This means,that in a group of synchronized blocks the execution order is deterministic. Blocks in a synchronization group still can run at different rates(multirate),but all rates have to be integer multiples of the fastest rate,the so called base rate,of the group.An example for an asynchronous block would be a viewer block, having its own refresh rate.3)Data Flow:The data format of each port of each block can be different,but is static during runtime.This simpliﬁes the implementation of a block,but also means,that a block is less than an object or a component,where different methods with different parameters and return values can be called. Nevertheless,this restriction is convenient for robotic system as the static robot hardware(e.g.always the same number of sensor values)implies the static data format for most of the blocks.Also the block’s connection scheme is static at runtime. This design decision dramatically simpliﬁes the implemen-tation,not only of the single block but of the mechanisms for conﬁguring the overall system.Instead of allowing to dynamically change the connection scheme it is possible to disable and enable blocks through input ports,where a disabled block does not consume computation time.Again, this is convenient for robotic systems.A typical task,where dynamic re-wiring seems to be necessary,as e.g.the switching between different controllers,can be almost always solved by statically connecting all alternatives(usually only some ten) and activating exactly one of them by disabling and enabling. All communication in the net of blocks is unbuffered.In combination with a non blocking sending of data through a block’s output port this allows for a simple way,conceptually and with regard to implementation,to connect blocks running at different rates.The receiving block simply reads the last sent data,regardless if its rate is faster(reading the same data multiple times)or slower(reading only every n-th data). If a more speciﬁc rate transition is needed,one can simply3.Functional view on a complex robot system as a net of calculation blocks and communication links.Starting from a system overview like in Fig.2one naturally ends up with this functional view by leaving aside the details of the computing hardware and reﬁn-ing the structure of the functional modules. The system shown here is the DLR Robut-ler[3]consisting of an arm-hand system mounted on a mobile platform and equipped with a stereo vision system.There is a realtime and a non-realtime part. In the former the granularity of the blocks is usuallyﬁner and the blocks represent a hierarchy of different controllers for each robot component(WC=wheel control,MC =mobile control,JC=joint control,AC=arm control,...)which are connected via device-driver blocks(dev)to the hardware and run with different rates(0.3ms up to6ms).In addition there are blocks for computing the inverse kinematics(invkin)or interpolation (ipol)or blocks that control the sequence of execution(SC)getting commands from higher-level blocks.In the non-realtime part the blocks are typically more monolithic applications like a3D-viewer or GUI for user interaction or a vision system and path plan-ner in combination with an execution control block(EC)for higher-levelintelligence.insert an additional block between the communication partners running at the higher rate and implementing an user deﬁned interpolation scheme.A block sends data by pushing it through its output port to the input ports it is connected to.To keep the design simple, there are no pull or send-with-reply operations,which can nevertheless be easily built on top of the push operation.A further essential requirement forﬂexible network layout is a mechanism for distributing a block’s output to several receiving input ports.C.System HandlingAfter having speciﬁed the properties of the net of blocks and links,the following considerations address the handling and development of such a system.1)Development Tools:For complex systems consisting ofa large number of blocks and links between them a graphical development tool,which allows to organize the net of blocks in a hierarchy of meta-blocks is almost essential.The possibility for rapid prototyping was one of the main design aspects of the overall software concept.This should be supplemented by having a quick edit-compile-debug cycle. Tools for monitoring and visualization of the dataﬂow are also important for getting an insight into the runtime behavior of a complex net of blocks and forﬁnding bugs.A complex full-system-debugging tool is not easily feasable. But taking together theﬂexibility in re-wiring the blocks, the tools for visualization and the quick turnaround cycles most of the debugging can be done without such a tool. Instead developers can use,so to say,a variant of the classical printf debugging adapted to systems with a decentral data ﬂow.Furthermore a module for simulation of the dynamics of the robot components is desirable,because it allows to decouple the development of the software from that of the hardware.In principle the same system can be used as a simulator when replacing the real robot components by a simulation of the robot dynamics.Depending on the quality of the model of the robot dynamics the simulator can resemble the behavior and timing of the real system very accurately.This stems from the facts that the other parts of the system are unchanged and that the simulation can also be run on the realtime target,due to scalability of computing power.For a team of developers a simulator is especially worth-while as it allows to parallize the developmentﬂow by simply running more than one simulator.Additionally,together with theﬂexibility of the software concept speciﬁc testbeds for parts of the system can be easily built.The development tools should also assist the mapping of the abstract net of blocks onto a concrete network of computers.2)Interfaces:The aRD concept only provides aﬂexible communication infrastructure for the net of blocks.The func-tionality,however,is implemented in the blocks.Therefore it is very important that the interface for writing a block and integrating it in the net’s communication structure should be open to arbitrary programming languages.This is especially important as in robotics the blocks are contributed by a team of expert from differentﬁelds each requiring its speciﬁc tools and languages.The interface for writing a block should also be simple, as researchers are experts in theirﬁeld but not necessarily software experts and are not willing to invest much time to understand sophisticated software frameworks.3)Conﬁguration,Startup and Shutdown:The description of the conﬁguration of a system consists of two parts.First,the structure of the net of blocks has to be described.Second,the mapping of this net to the actual computing hardware has to be speciﬁed,to describe which block runs on which computer and communicates over which links.At runtime the system is a decentral net of communicating blocks distributed over a network of computers.The software concept has to provide mechanisms to allow for a central startup from one console and a coordinated shutdown.III.I MPLEMENTATIONThe two main guidelines for the implementation of the aRD concept were to realize the principle of a decentral net of calculation blocks and communication links in a pure but simple way and to keep the implementation effort as little as possible by pragmatically relying on the functionality of the operating systems and using any tool,open source or commercial,which was appropriate.The current implementation of the aRD concept consists of aRDnet,a simple software suite developed at our institute anda toolchain based on Matlab/Simulink/RTW[13]and RTLab[14].As operating systems(OS)we use QNX Neutrino[15],a POSIX-compliant microkernel realtime OS,for the realtime target,Linux for the non realtime computers and Windows XP for the development hosts.A.Matlab/Simulink ToolchainMatlab/Simulink is the quasi-standard tool for simulation of robot dynamics and controller design.A Simulink model resembles the functional view on a system as being a net of communicating blocks.Each block can have an arbitrary number of input and output ports of usually real valued vectors as well as an internal state vector.Basically,during model execution the blocks are sequentially called in each simulation step to compute the new state and output from the actual state and input.Simulink’s formidable graphical editor allows for a hier-archical organization of groups of blocks in so called sub-systems.The success of Simulink is also founded in its rich library of blocks,including not only calculation blocks but also blocks for data visualization and user interaction.In addition due to its open architecture a multitude of third-party toolboxes for differentﬁelds of application are available.With RTW(Realtime Workshop)it is possible to automati-cally generate from a Simulink model executables running on a realtime target.To assure deterministic runtime behavior RTW allows only a subset of blocks which implement deterministic calculations and do not demand a console for user interaction. If some of the blocks implement communication to I/O-device cards with real hardware connected,such a system is known as a hardware-in-the-loop(HIL)environment.By using RTLab even a semi-automatic parallelization of the Simulink model to run on multiple CPUs or even distributed computing resources is feasible.The developer can easily specify which parts of the model should run on which CPU or computer.The Simulink model has only to be organized in a way,that the subsystems at the highest level resemble the desired model partition.All code for communication and synchronization of blocks running on different CPUs is automatically integrated by RTLab.Having semi-automatic rather then automatic parallization does not impose a severe restriction for robotic systems as the modular structure of the robot hardware usually induces a natural partition of the model.Due to its distributed character the important issues of inspection of and interaction with the model during runtime have to be addressed differently by RTLab than it is done by other HIL development enviroments like xPC Target[13]or dSPACE[16].When specifying the partition of the model,one of the subsystems can be marked as the”console”subsystem. This subsystem is not loaded to the realtime target,but instead a new model is generated from it which is run in a standard Matlab/Simulink enviroment on the host com-puter during model execution.The code for communication with the realtime part of the model is again automatically included by RTLab.This communication,however,is done assynchronously to not defer the model’s realtime behavior. In the console subsystem the complete Simulink library,e.g. scopes and switches,and even toolboxes,e.g.the Virtual Reality Toolbox for3D-visualization,can be used.In addition RTLab also allows to change the parameters of all blocks of the model during runtime by means of a parameter browser. With respect to extensibility it is important that Simulink is an open tool.It has a simple and well documented interface of call-back functions for implementing own blocks,so called “S-function blocks”.A multitude of programming languages including Matlab and C are supported.To simplify the implementation of standard blocks even further,the aRD concept provides a wrapper to Simulink’s S-function interface.Thus the developer has only to write an init function to be called at the initialization of the model to specify the number and dimensions of the block’s ports. Furthermore a calc function is needed which is called at each simulation step to perform the actual calculation.The execution of all blocks in a model is synchronized (except for blocks from the console subsystem),even when they are distributed over several computers.Simulink also provides multirate processing running each group of blocks with the same rate in a separate thread.In addition the enabling/disabling and triggering of subsystems is supported to control the execution of its blocks by means of input from other blocks.B.aRDnetBesides the blocks that are part of the Simulink model and which implement mainly controller related functionality, important parts of the net are made of standalone blocks.A standalone block is an individual process running an arbitrary executable which,as part of the net,sends and receives data packets.4.Implementaion of the net of communi-cating blocks(see Fig.3)of a complex robot system on a concrete computing hardware using the aRD software concept.The QNX realtime target consists of two PCs with multiple CPUs and the non-realtime blocks are executed on three PCs running Linux.The controllers are implemented in a Simulink model consisting of two sub-systems(ellipses with white insets)each running on a separate CPU and communi-cating by code automatically generated by RTLab.To connect standalone blocks,like the device-driver blocks or blocks with non-deterministic computation time,like some inverse-kinematics algorithms,and blocks in the Simulink model the aRDnet suite pro-vides Simulink stub munication between standalone blocks running on dif-ferent computers is realized by an ardnet-bridge consisting of an ardnet block(cir-cles with”an”)on each side.The system can be run as a simulator by replacing the real robot hardware by a second PC with multiple CPUs or even a cluster of PCs running blocks for simulating the robot dynamics and the interaction with theenviroument.Typical examples for such blocks running in the realtime part are I/O-blocks that implement the device drivers for communication with the connected robots or other hardware. Another example are non-deterministic calculation blocks which are asynchronously coupled to the Simulink model,for instance an inverse kinematics wich uses some kind of itera-tive minimization algorithm.Also,computationally demanding blocks like the simulation of the dynamical interaction of a robot with its environment are possible.In the non-realtime part standalone blocks are usually appli-cations for user interaction(GUI)and higher level intelligence (vision system,trajectory planning).Each block can have multiple input and output ports,but each output port is connected to exactly one input port of an arbitrary block with matching data formats.aRDnet is laid out as a simple software suite that supports and standardizes the communication between blocks.The suite was developed at our institute and consists of three parts. First,a library for easy implementation of a block’s input and output ports is provided.Second,the ardnet executable realizes communication between blocks running on different computers.Finally,a template for a Simulink stub block has been introduced,which allows for easy communication between standalone blocks and blocks in the Simulink model. In its current implementation the aRDnet suite supports blocks running on computers with QNX,VxWorks and Linux. In the near future we are planning to also support Windows.1)aRDnet Library:The aRDnet library provides a native C/C++-interface.Based on this interfaces to other program-ming languages can also be easily built as most languages allow to be extended by C-code.For Matlab and Python we have already realized such interfaces.The simple interface consists of onlyﬁve functions:•create and init for creating and initializing the input and output ports of a block.Details of the created prop-erties of the port can be conﬁgured by special command line arguments provided at startup to the block’s process.This is similar to the mechanism the X-Window system library Xlib uses to implement standard command line arguments for all X-clients(e.g.the”-display”argument).•send for non-blocking sending of a data packet through an output port.As all communication is unbuffered the last packet sent gets directly transported to the connected input port of the receiving block.•rec and tryrec for blocking and non-blocking receiv-ing of data over an input port.The blocking version waits until a new packet arrives and returns this data.In this way the execution of the block can be triggered on arrival of new data.In contrast,the non-blocking version returns immediately with the data that has arrived last.This set of functions for sending and receiving implements a pushing semantics for data transport.The size and format of a data packet can be different for each port of each block,but is static and deﬁned at compile-time.As only the blocks which are connected to each other have to know about the data format,this can easily be speciﬁed,e.g.in a common includeﬁle.The connection scheme of the block’s ports is determined by providing command line options at startup of each block’s executable.For each port of a block a separate name is speciﬁed.Connections are simply determined by matching port names for input and output and as each output port can only drive exactly one input port,every connected pair of ports has。

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附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

工业机械手是工业机器人的一个重要分支。

它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。

机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。

随着工业自动化的发展, 出现了数控加工中心,它在减轻工人的劳动强度的同时, 大大提高了劳动生产率。

但数控加工中常见的上下料工序, 通常仍采用人工操作或传统继电器控制的半自动化装置。

前者费时费工、效率低; 后者因设计复杂, 需较多继电器,接线繁杂, 易受车体振动干扰,而存在可靠性差、故障多、维修困难等问题。

可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力, 保证了系统运行的可靠性,降低了维修率, 提高了工作效率。

机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。

一、工业机械手的概述机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。

在工资水平较低的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。

那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。

但现在的变化是那些分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。

随着我国工业生产的飞跃发展，特别是改革开发以后，自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自化，已愈来愈引起我们重视。

机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。

在现实生活中，你是否会发现这样一个问题。

在机械工厂里，加工零件装料的时候是不是很烦的，劳动生产率不高，生产成本大，有时候还会发生一些人为事故，导致加工者受伤。

想想看用什么可以来代替呢，加工的时候只要有几个人巡视一下，且可以二十四个小时饱和运作，人行吗？回答是肯定的，但是机械手可以来代替它。

生产中应用机械手可以提高生产的自动化水平和劳动生产率;可以减轻劳动强度、保证产品质量、实现安全生产；尤其是在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣的环境中能够代替人进行正常的工作。

想到这里我就很想设计一个机械手，来用于生产实际中。

为什么选着设计机械手用气动来提供动力：气动机械手是指以压缩空气为动力源驱动的机械手。

用气压驱动与其他能源驱动比较有以下优点：1.空气取之不竭，用过之后排入大气，不需要回收和处理，不污染环境。

（环保的概念）2.空气的沾性很小，管路中压力损失也很小（一般气路阻力损失不到油路的千分之一），便于远距离输送。

3.压缩空气的工作压力较低(一般为4～8公斤/每平方厘米)，因此对动元件的材质和制造精度要求可以降低。

4.与液压传动相比，它的动作和反应都快，这是气动突出的优点之一。

5.空气介质清洁，亦不会变质，管路不易堵塞。

但是也有它美中不足的地方：1.由于空气的可压缩性，致使气动工作的稳定性差，因而造成执行机构运动速度和定为精度不易控制。

2.由于使用气压较低，输出力不可能太大，为了增加输出力，必然使整个气动系统的结构尺寸加大。

用气压驱动与用其他能源驱动比较有以下优点：空气取之不竭，用过之后排入大气，不需回收和处理，不污染环境。

偶然的或少量的泄漏不致对生产发生严重的影响。

空气的粘性很小，管路中压力损失也就很小，便于远距离输送。

压缩空气的工作压力较低，因此对气动元件的材质和制造精度要求可以降低。

一般说来，往复运动推力在1~2吨以下采用气动经济性较好。

与液压传动相比，它的动作和反应都快，这是气动的突出优点之一。

空气介质清洁，亦不会变质，管路不易堵塞。

它可安全地应用在易燃、易爆和粉尘大的场合。

又便于实现过载自动保护. 二﹑机械手的组成机械手的形式是多种多样的，有的较为简单，有的较为复杂，但基本的组成形式是相同的，一般由执行机构、传动系统、控制系统和辅助装置组成。

1.执行机构机械手的执行机构，由手、手腕、手臂、支柱组成。

手是抓取机构，用来夹紧和松开工件，与人的手指相仿，能完成人手的类似动作。

手腕是连接手指与手臂的元件，可以进行上下、左右和回转动作。

简单的机械手可以没有手腕。

支柱用来支撑手臂，也可以根据需要做成移动。

2. 传动系统执行机构的动作要由传动系统来实现。

常用机械手传动系统分机械传动、液压传动、气压传动和电力传动等几种形式。

3. 控制系统机械手控制系统的主要作用是控制机械手按一定的程序、方向、位置、速度进行动作，简单的机械手一般不设置专用的控制系统，只采用行程开关、继电器、控制阀及电路便可实现动传动系统的控制，使执行机构按要求进行动作．动作复杂的机械手则要采用可编程控制器、微型计算机进行控制。

三﹑机械手的分类和特点机械手一般分为三类：第一类是不需要人工操作的通用机械手。

它是一种独立的不附属于某一主机的装置。

它可以根据任务的需要编制程序，以完成各项规定的操作。

它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能的三元机械。

第二类是需要人工才做的，称为操作机。

它起源于原子、军事工业，先是通过操作机来完成特定的作业，后来发展到用无线电讯号操作机来进行探测月球等。

工业中采用的锻造操作机也属于这一范畴。

第三类是用专用机械手，主要附属于自动机床或自动线上，用以解决机床上下料和工件送。

这种机械手在国外称为“Mechanical Hand”，它是为主机服务的，由主机驱动；除少数以外，工作程序一般是固定的，因此是专用的。

主要特点：(1) 机械手（上下料机械手、装配机械手、搬运机械手、堆垛机械手、助力机械手、真空搬运机、真空吸吊机、省力吊具、气动平衡器等）。

(2) 悬臂起重机（悬臂吊、电动环链葫芦吊、气动平衡吊等）(3) 导轨式搬运系统（悬挂轨道、轻型轨道、单梁起重机、双梁起重机）(4) 工业机械手的应用机械手是在机械化、自动化生产过程中发展起来的一种新型装置。

近年来，随着电子技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。

机械手虽然目前还不如人手那样灵活，但它具有能不断重复工作和劳动、不知疲劳、不怕危险、抓举重物的力量比人手大等特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用，例如：(1) 机床加工工件的装卸，特别是在自动化车床、组合机床上使用较为普遍。

(2) 在装配作业中应用广泛，在电子行业中它可以用来装配印制电路板，在机械行业中它可以用来组装零部件。

(3) 可在劳动条件差，单调重复易子疲劳的工作环境工作，以代替人的劳动。

(4) 可在危险场合下工作，如军工品的装卸、危险品及有害物的搬运等。

(5) 宇宙及海洋的开发。

(6) 军事工程及生物医学方面的研究和试验。

助力机械手:又称平衡器、平衡吊、省力吊具、手动移载机等，是一种无重力化手动承载系统，一种新颖的、用于物料搬运时省力化操作的助力设备,属于一种非标设计的系列化产品。

针对客户应用需求，量身定制的个案创作。

一种模拟人手操作的自动机械，它可按固定程序抓取﹑搬运物件或操持工具完成某些特定操作。

应用机械手可以代替人从事单调﹑重复或繁重的体力劳动，实现生产的机械化和自动化，代替人在有害环境下的手工操作，改善劳动条件，保证人身安全。

20世纪40年代后期，美国在原子能实验中，首先采用机械手搬运放射性材料，人在安全室操纵机械手进行各种操作和实验。

50年代以后，机械手逐步推广到工业生产部门，用于在高温﹑污染严重的地方取放工件和装卸材料，也作为机床的辅助装置在自动机床﹑自动生产线和加工中心中应用，完成上下料或从刀库中取放刀具并按固定程序更换刀具等操作。

机械手主要由手部机构和运动机构组成。

手部机构随使用场合和操作对象而不同，常见的有夹持﹑托持和吸附等类型。

运动机构一般由液压﹑气动﹑电气装置驱动。

机械手可独立地实现伸缩﹑旋转和昇降等运动，一般有2～3个自由度。

机械手广泛用于机械製造﹑冶金﹑轻工和原子能等部门。

能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。

它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。

机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。

有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手。

机械手主要由手部和运动机构组成。

手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。

运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势......机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，它是在机械化、自动化生产过程中发展起来的一种新型装置。

机械手能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生产力。

机械手越来越广泛的得到了应用，在机械行业中它可用于零部件组装，加工工件的搬运、装卸，特别是在自动化数控机床、组合机床上使用更普遍。

目前，机械手已发展成为柔性制造系统FMS和柔性制造单元FMC中一个重要组成部分。

把机床设备和机械手共同构成一个柔性加工系统或柔性制造单元，它适应于中、小批量生产，可以节省庞大的工件输送装置，结构紧凑，而且适应性很强。

当工件变更时，柔性生产系统很容易改变，有利于企业不断更新适销对路的品种，提高产品质量，更好地适应市场竞争的需要。

而目前我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，应用规模和产业化水平低，机械手的研究和开发直接影响到我国自动化生产水平的提高，从经济上、技术上考虑都是十分必要的。

因此，进行机械手的研究设计是非常有意义的。

附件2：外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial robot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multipledegrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention.Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuringproduct quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport.3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered.4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding.5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or asmall amount of leakage would not be a serious impact on production.Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline.It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection.Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the, Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.1. Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system.Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.). Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industryIt can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling,dangerous goods and hazardous materials removal and so on.(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑﹑electrical device drivers.Manipulator can be achieved independently retractable ﹑ rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recentyears, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful.。