机械手外文翻译
本科毕业设计(论文)外文翻译（附外文原文）学院：机械与控制工程学院课题名称：搬运机械手的结构和液压系统设计专业(方向)：机械设计制造及其自动化（机械装备）班级：学生：指导教师：日期： 2015年3月10日Proceedings of the 33rd Chinese Control ConferenceJuly 28-30, 2014, Nanjing, ChinaThe Remote Control System of the ManipulatorSUN Hua, ZHANG Yan, XUE Jingjing , WU ZongkaiCollege of Automation, Harbin Engineering University, Harbin 15000E-mail: sunhuas@Abstract: A remote control system of the 5 degree of freedom manipulator was designed. This manipulator was installed into our mobile robot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulator by the interactive interface of PC which could display moving picture and various data of the manipulator. The servos of the manipulator were controlled by the slave FPGA controller. In addition, the slave FPGA controller communicated with the PC via the wireless communication module. Owing to the embedded Nios II program and IP (Intellectual Property) core generating PWM waves in FPGA, the system could control the multiple servos fast and flexible. In order to achieve real-time operation and simulation, the interactive interface was established by the mixed programming of VC and MATLAB. Key Words:The manipulator; Remote control; Denavit-Hartenberg; FPGA; Human-computer interaction1 IntroductionWith the development of the microelectronic technique and the computer technology, the manipulator has become essential equipment in the manufacturing industry. As we all known, the manipulator is usually applied to accomplish dull, onerous and repeated physical work, especially used to substitute the manual operation under the dangerous and the hazardous environment such as the corrosion and the high temperature.In this paper, the manipulator was installed our mobile robot. The tele-operation system of this manipulator was designed. The whole system is onstituted by PC and slave FPGA. The operator can remote control the manipulator by PC. The wireless communication was used for transmitting data between PC and FPGA. FPGA is controller of the the manipulator in the mobile robot. FPGA has the abundant internal resource and IP cores. And a central control option was built via an embedded Nios II program and an IP core in FPGA. Furthermore, Verilog language was adopted to design the IP core which generateddigital PWM waves for controlling the manipulator. Therefore, this system could reach higher precision and easy to debug.MATLAB software was adopted to build the kinematic models of manipulator. And using D-H (the acronym of Denavit-Hartenberg) method to solve the forward and inverse kinematic equations of the manipulator, to analyze the motivation, to plan and track the motion’s path.In addition, a good interface of human-computer interaction was enhanced in the remote control system of the manipulator in PC. Moreover, the manipulator simulation technology was built by using the mixed programming of VC and MATLAB. Thus, the motion choreographs was got quickly and easily, also greatly saved time and cut the cost.2 Manipulator Model and Path PlanningAt first, the motion model of the manipulator was built. Then, the kinematic simulation and its path planning were researched. These works provided the foundation for the design of the remote control system of the manipulator.2.1 Motion Model of the ManipulatorThe manipulator was regarded as an open loop kinematic chain. It was constituted by five rotary joints. And its one end was fixed on a base while the other end was used to achieve the ability of grabbing. Therefore, it is better to establish a chain coordinate frame as shown in Fig.1. The terminal position and attitude was determined via using forward kinematic equation after knowing the rotating angle of every joint. The D-H parameter table shown as Table 1 was established by using the frames in Fig.1.Fig.1 Coordinate frames of mechanical armTable 1 D-H Parameters of the Robot ArmDue to D-H method:T =A n+1n+1n =(Cθn+1−Sθn+1Sθn+1Ca n Cθn+1Ca n 0a n −Sa n −Sa n d n+1Sθn+1Sa n Cθn+1Sa n 00Ca n Ca n d n+101) Where Cθn+1=cos θn+1 , Sθn+1=sin θn+1 , Ca n =cos a n , S a n =sin a n . The transformation matrix of every joint was given by equation (2).T 10=(cos θ1sin θ1sin θ1cos θ1000000001001) T 21=(cos θ2−sin θ200001d 1−sin θ2−cos θ2000001) T 32=(cos θ3−sin θ3sin θ3cos θ3000000001d 201) T 43=(cos θ4−sin θ40000−1−d 3sin θ4cos θ4000001) T 54=(cos θ5−sin θ5sin θ5cos θ5000000001d 401) T 50=(n x n x n y n y n x n x n y n y n z n z 00n z n z 01)=T 10T 2∗1T 3∗2T 4∗3T 5∗4 (2) Where unit vector n →,o →,a → in equation (2) was n →=normal , n →=orientation ,n →=approacℎ, n→=position . Parameters of mechanical arm were given by d 1=85mm , d 2=116mm , d 3=85mm , d 4=95mm . Therefore the forward kinematic equation was determined by taking every parameter in equation (3).P 50=(180Cθ1S (θ2+θ3)+116Cθ1Sθ2180Sθ1S (θ2+θ3)+116Cθ1Sθ285+116Cθ2+180C (θ2+θ3)) (3)In practical application, the manipulator was adopted to grab objects. This required that the fixed position was given from terminal to target location. That was the inversekinematic analysis of manipulator. Inverse transformation was used to determine angle ofevery rotary joint toward the established coordinates. And the used method of inverse transformation was the common method to solve such problem (this method also known asalgebraic method).Using inverse transformation T n n−1−1 separately to the left multiplicationwith T =50T 10T 2∗1T 3∗2T 4∗3T 5∗4 , the angle of every rotary joint （θ1 θ2 θ3 θ4 θ5）wasdetermined. Owing to these results, the rotary angles （θ1θ2θ3）at terminal position of manipulator were totally decided by the target position [P x P y P z ]. Angle θ4 was used to change terminal attitude of the manipulator and it was changed by the known normal vector. However, angle θ5, was decided by the size of target object.2.2 Motion Simulation of the ManipulatorThe manipulator model was built and simulated via MATLAB toolbox. We could verify the rationality of the mathematical model. While the MATLAB model was established by table 1 and shown as Fig.2Fig.2 MATLAB simulation of the manipulatorComparing to the Fig.1 and Fig.2, the simulation model of the manipulator was coincided to the reference frame model. That was to say, the given coordinate frame was correct. These results also could be proved by the determined inverse kinematic equations via MATLAB shown in the table (2) and table (3).The target position was solved by forward kinematics. After that, the rotary angles were calculated by inverse kinematical equation. It turned out that these rotary angles coincided to the given angles. Therefore, these results verified the correctness of forward and inverse kinematical equation.Table (2) Forward Kinematics AnalyzeTable (3) Inverse Kinematics Analyze3 Path Planning of the ManipulatorThe total displacement of joint was calculated by inverse kinematical equation when the manipulator moved to new position. Thus, the manipulator could move to new position. Although the manipulator finally moved to the expected position in such condition, the motion of the manipulator between these two points was unknown. Due to space limitations, motion and some certain position requirements, the manipulator was often unable to move as the above mentioned method. Therefore, the motion path was designed to coincide with the limited conditions.In this paper, we could use these certain limitations to decide some expected points. And these expected points were used to match the planning path of the manipulator’s movement. Owing to the planning path, coordinate in every part could be calculated. The rotary angleof every joint was calculated via inverse kinetical equation and these angles realized the movement of planning path. Movement of the manipulator was shown in Fig.3 (Where‘?’ represented the points would be passed by the manipulator; ‘*’represented the expected points of every segment; ‘-’represented path planning of the manipulator). In Fig.3, we could see that the motion of the manipulator passed every planning point and the movement path coincided to the planning path.Fig.3 The path planning simulation of the manipulator4 Remote Control System of the Manipulato rThe remote control system of the manipulator contains the main PC and the slave FPGA controller using DE2 Board of ALTER Company. The motors of the manipulator were controlled by multipath PWM waves. And the PWM waves were generated by IP core. The FPGA controllerCommunicated with PC via wireless serial port. While in the PC interaction, the operator could observe the move of the manipulator in real-time and tele-control the motion of the manipulator. Also every movement of manipulator could be observed in advance via the simulation technique. The general design of the manipulator remote control system was shown in Fig.4.Fig.4 The block diagram of the remote control system4.1 Control Mode of the ManipulatorThere were two control modes of the manipulator. One mode is that the inverse kinematical equations are calculated by FPGA straightly to determine angle of every rotary joint. Thus, the control of the manipulator was achieved. The advantage of this mode is more direct and independent to finish the control of the manipulator without the external devices. At the same time, this mode has large quantities of calculations, which occupy more internal storage and running time of FPGA. Resources of FPGA are wasted under this mode.The other mode accomplished the control of the manipulator by using VC and MATLAB in PC. Using VC and MATLAB finished a large number of complex calculations and determined angle of every rotary joint. And the angle results were transmitted to FPGA in order to accomplish the control of the manipulator. This manner saved lots of internal storage and running time. In addition, FPGA could finish other works under this mode. But the manipulator was not under fast control in this mode.In this system, a new mode was adopted in the manipulator remote control system depending on the advantages of the two modes. Specifically, when the manipulator accomplished the specified and repeated movement the former mode was adopted under direct control by FPGA. When the manipulator wanted to achieve new motions the latter mode was used to be commanded by orders from PC. This new mode was made good use of advantages of the two modes in the above. And this new mode lightened computational burden and improved working efficiency of the manipulator.4.2 SOPC Design for the Remote Control SystemMovement of the manipulator was controlled by servos. And the servos were controlled by PWM waves with the cycle of 20ms. Pulse width of these PWM waves was 0.5~2.5mscorresponding to the rotary angle of servo with -90 degree to 90 degree. High precision of PWM waves were generated by IP core via Verilog in this system. The results were shown in Fig.5. PWM waves controlled rotary angles of the servos via the servo drivers.Fig.5 The PWM IP coreMultiple of IP cores were able to be downloaded into FPGA. And multiple PWM waves with high precision were generated in the output. As shown in Fig.6, the pulse width of these waves could be settled by program of Nios II. The movement of the manipulator was more flexible and in higher precision in this system.Fig.6 The IP cores generating PWM waveThe movement of the manipulator was accomplished by the duty ratio of PWM waves. Formula (4) inverted rotary angle θn to the corresponding amount of the duty ratio of PWM waves. The duty ratio of PWM waves corresponded to the Nios II output.PWM n=1000000−(θn∗50000+75000)（4）Wireless serial of 9600 baud rate was used to transmit the coordinate and the angle information from host computer to FPGA. After that, the data and orders were analyzed by FPGA Then FPGA transmitted the movement results to interactive interface of host computer via wireless transition model. This communication was realized through adding UVRT communication protocol to FPGA.4.3 The Interactive Interface of the Remote Control SystemThe interactive interface of the remote control system was shown in Fig.7. There were some functions in the interactive interface: video observation, the manipulator control and the simulation modeling.At first, the manipulator video could be seen from camera to interactive interface. The operator could monitor the manipulator in real-time.Secondly, the angle and the coordinate could be set in control zone of the interactive interface. The angle of the manipulator could be set independently to each single joint. In addition, the angle setting could be shown in real-time in the list of interactive interface (as shown in Fig.7). In the set of coordinates, judging of coordinate setting assured that the total coordinates could achieve to the target points. Thus the manipulator could be controlled to move in the settled path depend on the angle information.Lastly, the MATLAB robot toolbox was embedded into this interactive interface. One interface was integrated both the control and simulation of the manipulator. MATLAB robot toolbox was directly used by interactive interface in the manipulator modeling. Each group of information was simulated separately in order to detect whether each movement was correct. And the general simulation could test whether movement arrangement of the manipulator was reasonable. Combining with multiple simulation methods made the movement arrangement more flexible, the operation of the manipulator simpler and interface interaction more perfect.Fig.7 The interactive interface of the manipulator5 Experiment and SimulationIn order to verify properties of the remote control system of the manipulator, experiments of the system were under way and were comparing to the simulation system. To be specific, manipulator modeling was built by interactive interface and a group of coordinates could be designed. These coordinates were transmitted to FPGA, which controlled the servos to accomplish the movement of the manipulator. Joint angles, the terminal coordinates shot by interface video. The simulation results were shown in paring the real movement and the simulation results, we could see that the manipulator modeling and control of the interactive interface design comforted to the design requirement. The comparing between experiment and simulation was shown in Fig.8.Fig.8 The experiment and the simulation6 ConclusionIn the experiment, the 5-DOF manipulator modeling was simulated by MATLAB. In the slave FPGA board, control of the manipulator was accomplished via IP core based on the Verilog language. That greatly reduced design of the peripheral circuit, cut the cost, improved the precision and made the movement smoother without shaking. While in the interactive interface, the mixed programming method of VC and MATLAB was embedded into the MATLAB simulation function. Thus the operability of this manipulator was enhanced. The system had a good ability of interactive interface. The whole system was verified and achieved to the expected effect. One new thing in this system was that embedded the MATLAB robot toolbox in the interactive interface. The D-H modeling, path planning and tele-operation and so on were accomplished by using this interactive interface directly. Compared to the other development tools, this interactive interface had portability, good compatibility, short development cycle and simple operation.References[1] Saeed B. Niku write, Sun Fuchun, Zhu Jihong, Liu Guodongetc translate: Robotics Introduction, Beijing, ElectronicIndustry Press, 2004(1):60-63,132-137.[2] Brady, M.J.M.Hollerbach, T.L.Johnson, T.Lozano-Perez, andM.T.Mason, editors, Robot Motion; Planning and Control,MIT Press, Cambridge, Mass, 1982.[3] Paul Richard P., Robot Manipulators, Mathematics,Programming, and Control, The MIT Press 1981.[4] Li Jian, Design and Research of Multi-DOF Robot, Masterdegree theses of master of university of technology, Chineseacaedemy of sciences, 2009?20-31.[5] Cheng Liyan, Fei Ling, Su Zelang, The 5-DOF ManipulatorKinematics Simulation Analysis Based on MATLAB,Mechanical Research & Application, 2011(06).[6] Zhang Puxing Jia Qiuling, Mechanical Arm Multi-channelServo Control Design based on FPGA, Small and specialelectrical machine. 2011, 39(4)第33届中国控制会议论文集中国，南京，2014年28-30日机械手的远程控制系统孙华、张媛、薛晶晶、吴宗凯哈尔滨工程大学，哈尔滨15000学院，自动化专业电子油箱：sunhuas@摘要：一种5自由度机械手的远程控制系统的设计。
机械手臂外文翻译
外文出处：《Manufacturing Engineering and Technology—Maching》附件1：外文原文ManipulatorFirst, an overview of industrial manipulatorWith the rapid development of China's industrial production, especially the reform and openingup 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.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic andradioactive 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: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.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:2." As the use of low atmospheric pressure, the output power can notbe too large; in order to increase the output power is bound to the structure of the entire pneumaticsystem size increased.Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, donot pollute the environment. Accidental or a small 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.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.1.Implementing agencies2. Transmission3. Control SystemRobots are generally divided into three categories: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 hand(3) The working conditions may be poor, monotonous, repetive 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: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。
中英文文献翻译-机械手
附录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 LogicController 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.1. 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 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 ahigh 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 laborintensity, ensuring product 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 thepipeline. 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 a small 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. 2. 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.2.1 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.2.2 TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic andelectric power transmission and other drive several forms.2.3 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.3 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 tooperate 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)4 industrial machinery, application of hand Manipulator in the mechanization and automation of the 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.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 ina 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 andautomation 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 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. 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 piececonveyor 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.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。
机械手基本认识
机械手基本认识什么是机械手？机械手（Robotic Arm），也叫机器人手臂，是一种能够模拟人类手臂动作并执行各种任务的自动化装置。
它由一系列的关节组成，可以进行多轴运动，并且通常配备有各种各样的工具，比如夹具、吸盘等。
机械手可以在工业生产线、医疗器械操作、仓储物流等领域中扮演重要角色。
它们具有精准、高效、重复性好等特点，能够完成繁重、危险或需要精细的工作任务，并且减轻了人力劳动的压力。
机械手的组成机械手通常由以下几个重要组成部分构成：1.底座（Base）：机械手的起始点，固定在工作平台上，提供了整个机械手的支撑点。
2.关节（Joint）：机械手的关节连接部分，一般由电机、减速器和传感器组成，用于控制机械手的运动。
3.连杆（Link）：机械手的连接部分，由金属或塑料材料构成，用于连接机械手的各个关节。
4.驱动系统（Drive System）：机械手的运动驱动装置，通常由电机、齿轮和皮带组成，用于提供机械手的动力。
5.末端执行器（End Effectors）：位于机械手末端的工具，可以是夹具、吸盘、喷枪等，用于完成具体的任务。
6.控制系统（Control System）：机械手的大脑，由控制器、传感器等组成，用于控制机械手的运动、感知外界环境并做出反应。
机械手的工作原理在机械手的工作过程中，控制系统会根据预先设定的程序和输入信号来控制关节的运动，从而带动机械手完成各种任务。
首先，控制系统会接收外部输入信号，比如传感器的反馈信号或者人机交互界面的操作指令。
然后，通过算法处理这些信号并生成控制指令。
接下来，控制指令会传递到驱动系统中，驱动电机开始工作，使机械手的各个关节开始运动。
每个关节的运动受到控制系统的精确控制，从而实现机械手的多轴运动。
最后，机械手的末端执行器会根据控制系统的指令完成具体的任务。
比如，夹具会夹取物件，吸盘会吸取物件并搬运等。
机械手的应用领域机械手的应用领域非常广泛，以下是一些常见的应用领域：1.工业自动化：机械手在工业制造中起到至关重要的作用，可以完成装配、搬运、焊接等各种任务，提高生产效率和产品质量。
简易机械手及控制外文文献翻译、机械手类中英翻译、外文翻译
附录外文文献原文：Simple Manipulator And The Control Of ItAlong with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, the perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions, rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient.Matters of the manipulator axial linkage simple structure and action processManipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.Figure 1 Manipulator StructureIts motion control mode is: (1) can rotate by servomotor Angle for 360 °breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360 °can drive the turntable institutions manipulators and bushings free rotation (its electric drag in part by the dc motivation, photoelectric encoder, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhang close when pressed on, put inflatable robot manipulators loosen) when gas.Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion along the horizontal axis of the step-motor controller began to move exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.Vertical axis stepper motor drive up, the other horizontal axis stepper motor driver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand release the goods; system back to the place ready for the next action.II.Device controlTo achieve precise control purposes, according to market conditions, selection of a variety of keycomponents as follows:1. Stepper motor and driveMechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid stepping motor, step angle of 0.9 °/ 1.8 °, current is 1.5A. M1 is the horizontal axis motor driven manipulator stretch, shrink; M2 is the vertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses 10 ~ 40V DC power supply, H-phase bridge bipolar constant current drive, the maximum output current of 3A of the 8 optional, maximum fine of 64 segments of 7 sub-mode optional optical isolation, standard single-pulse interface, with offline capabilities to maintain semi-sealed enclosure can be adapted to environmental conditions even worse, provide semi-current energy-saving mode automatically. Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltagerange, the user can according to their circumstances to choose between the 10 ~ 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state, corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4, 8 segments, 16 segments, 32 segments and 64 segments of 7 operating modes. The use of six of the drive panel DIP switches 1,2and3 can be combined from three different states.2. Servo motors and drivesManipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonic's unique algorithms, the rate increased by 2 times the frequency response, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improve accuracy. With a conventional automatic gain adjustment and real-time automatic gainInterest adjustment in the automatic gain adjustment methods, which also has RS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives are a series MSDA5A3A1A, applicable to small inertia motor.3. DC machine360 ° swing of the turntable can be a brushless DC motor driven organization, the system is chosen when the profit company in Beijing and the 57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, low noise, high efficiency. Brushless DC motor drive using the Beijing and when Lee's BL-0408 produced by the drive, which uses 24 ~ 48V DC power supply, a start-stop and steering control, over current, overvoltage and locked rotor protection, and there is failure alarm output external analog speed control, braking down so fast.4. Rotary encoderCan swing 360 ° in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieve precise positioning of rotary bodies.5. PLC SelectionAccording to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is astand-alone unit, capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easy integration into industrial control systems.III. Software programming1. Software flow chartPLC programming flow chart is based. Only the design flow, it may be smooth and easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2.Figure 2 Software flow chart2. Program partBecause space is limited, here only paper listed the first two program segment for readers see.Figure 3 Program partIV. ConclusionAxis simple robot state by the various movements and PLC control, the robot can not only meet the manual, semi-automatic mode of operation required for such a large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easily embedded into industrial production pipeline.中文译文：简易机械手及控制随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。
机械手翻译
Industrial Robots1.Manipulator overview of RobotsIt is the ancient robot in early appearance and developed on the basis of research into the middle of the twentieth century manipulator, along with the computer and automation technology development, especially the first digital electronic computer in 1946, since the advent of computer made amazing progress, to high speed, high capacity, low price direction. Meanwhile, the urgent demand of mass production of promoting automation technology progress, and for the development of robots laid a foundation. On the other hand, nuclear technology research requires certain operating machine instead of people handle the radioactive substances. In this one requirement background, the United States is developed in 1947, in 1948 and remote control robot developed mechanical master-slave manipulator.From the United States began developing manipulators first. In 1954 the United States first suggested the wear wal-mart, and the concept of industrial robot applied for patent. This patent point is using servo technology control of the robot joints, using an action on the robot hands, the robot can realize. Teaching movement recording and playback. This is the so-called demonstration emersion robot. The existing robots are using this kind of control mode. 1958 united control company developed the first manipulator riveting robot. As the earliest practical model robot products (demonstration reappearance) is 1962 U.S. AMF company launched "VERSTRAN" and UNIMATION company launched "UNIMATE". These industrial robot mainly by similar man's hands and arms who composed it can replace the hard labor in order to achieve production mechanization and automation, can in harmful environment operation to protect the personal safety and thus widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.Industrial robot CaoZuoJi (by mechanical body), controller, servo drive system and detection sensor, making it a humanoid operation, automatic control, can repeat programming, can finish all kinds of assignments in 3d space the electromechanical integration automation production equipment. Particularly suitable for many varieties, change of flexible production batch. It to help stabilize, improve product quality, raise efficiency in production, improve working conditions and product rapid renewal plays an extremely important role.Robotic technology is integrated with computer, cybernetics, organization learning, information and sensing technology, artificial intelligence, bionics science and the formation of high technology and new technology, is a very active, contemporary study applied more and more widely. Robot applications, is a national industrial automation level of important symbol.Robot and not in the simple sense of labor, but replace artificial comprehensive people skills and machine a personification of the specialty of electronic machinery, already someone on the environment condition of rapid reaction and the analysis judgment ability, and a machine could be longer duration of work, high precision and the ability of resistance to bad environment, in a sense it is also machine process of evolution product, it is an important industrial and the industry production and service, but also set the advanced manufacturing technology field indispensable automation equipment.Manipulator is part of the action imitating the hands, according to the given program, track and demanding acquirement, handling or operation of the automatic mechanical device. In the industrial production of the application of industrial robots called "robot". Application of manipulator can be used to increase production level of automation production and labor productivity: can reduce laborintensity, assure product quality, achieve safety production; Especially in high temperature, high pressure, low temperature, low pressure and dust, explosive, toxic gases and radiation etc harsh environment, it instead of human normal work, meaning more significant. Therefore, in the mechanical processing, stamping, casting, forging, welding, heat treatment, electroplating, paint, assembly and light industry, transportation etc widely quoted are increasingly.The structure of the manipulator is simpler, specificity form began, strong for a machine tool's only feeder, and was attached to the machine's special manipulator. Along with the development of industrial technology, made by an independent program control realization repeated operation, suitable scope is wider "program control general manipulator", or general manipulator. Due to the change of general manipulator can quickly working procedures, good adaptability, so it continues to transform the medium and small batch production products gain extensive reference .posed of the manipulator1)ActuatorsHandNamely parts in contact with objects. Due to the different forms of contact with objects, can be divided into clamping type and adsorption the hands. Gripping type hand fingers (or by PAWS) and power transmission institution constitutes. Fingers are in direct contact with the object of components, common finger movement forms have moved back to the transformation of peace. Back to the transformation of simple structure, easy fingers, so application component manufacturing is widely applied translation type, its reason is less complicated structure, but translations type circular parts, fingers clamping workpiece diameter variation do not affect its axis position, therefore appropriate clamping diameter variation range workpiece.Finger structure by grasping object depends on surface shape, caught parts (the profile or within hole) and object weight and dimensions. Common refers to a flat, form the v-shaped finger and surface: the clip type and inside there supporting type; Index has double refers to type, by type and hands of double refers to type, etc.But the force transmission institution is produced by clamping force fingers to accomplish the task. Put objects clips Power transmission institutions are: the more commonly used type sliding channel, connecting lever lever type, bevel gear lever type, type, screw nut upper-and-lower, type spring type and gravity type, etc.Enclosed type hand made mainly by chuck, it is to rely on adsorption force (such as chuck formed in the negative pressure or an electric suction magnetic) adsorption objects, the corresponding adsorption hand have negative pressure and electric disk two kinds of suckers.For light small flake parts, smooth plate materials, usually with negative pressure chuch suck material. The way cause negative pressure air suction and vacuum pump type.To guide magnetic ring type and the plate with a hole, and have such parts of sheet etc (meshes, usually use electro-magnetic chuck suck material. The suction electro magnetic chuch by dc magnets and production. Communication electromagnet.With negative pressure chuch and electro magnetic chuch absorb charge, its shape, quantity, suckers absorbability size, according to adsorb object shape, size and weight size and decide.In addition, according to special needs, the hand and spoon type (such as casting manipulatorpoured bag part), Joe type (such as cold gear machine up-down material manipulator hand) type.WristHand and arm is connected components, and can be used to adjust the position by grasping object (i.e. posture).ArmThe arm is supporting caught objects, hand, an important part of the wrist. The arm's role is to drive to grab objects, and fingers predetermined asks its handling to the location specified. Industrial manipulator arm often moving parts by driving arm (such as oil cylinder, cylinders, rack-and pinion institutions, link mechanism, screw mechanism and CAM mechanism, etc.) and drive source (such as hydraulic and pneumatic or motor, etc.), in order to realize the combined arms all kinds of sports.The arm in telescopic or lifting movement, in order to prevent around its axis rotation, need a guide device, to ensure that the finger on the correct direction movement. In addition, orientation device can bear arms were bending moment and torsion moment when turning or arm movement in start-up, brake generated at the moment of inertia, make the moving parts stress state is simple.Orientation device structure form, commonly used are: single cylinder, double cylindrical, four cylinder and v-shaped chamfer, swallow tail trough etc oriented form.PillarPillar is supporting the arm parts, pillar also can be part of the arm and arm turn movement and lift (or pitch) movement are and pillar are closely linked. Manipulator to usually set for fixed, but need because of the job, sometimes also can make lateral movement, namely called will move a type bar.Walk InstitutionsWhen industrial robots need to complete a remote operation, or expanded use scope, the same seat installation roller, rail, etc, in order to realize the mobile mechanism of the machine movement. Industrial robots Roller type can be divided into the mobile mechanism of sounds and two trolley. Drive roller motion should be additional mechanical transmission device.BaseSeating is basic parts of manipulator, manipulator actuator components and the drive system are installed in on standby, so the role of the support and links.2)Drive systemDrive system is driving industrial robots actuators movement of the power unit, usually by power supply, the control adjusting device and auxiliary device component. The drive system used in hydraulic transmission, pneumatic transmission, power transmission and mechanical transmission etc 4 form..3)Control systemControl system is dominated by the requirements of industrial robots sport system. At present the control system of industrial robots by process control system and general electric positioning (or mechanical stop pieces positioning) systems. Control system has the electrical control and jet controltwo kinds, it dominates the manipulator procedures stipulated by the movement, according to people and memory of the manipulator instruction information (such as action sequence, trajectory, movement speed and time), and according to the control system of the information instruction executive agencies and, when necessary, the action of manipulator when motion surveillance, any error or fault alarm signal that..4)Position detection deviceControlling manipulator actuator position and keep movement of actuator actual position feedback to control system, and with setting the position to compare, and then adjusted by controlling system, thus make actuators to certain accuracy reached set position.3.Manipulator classificationThere are many kinds of industrial robots, about classification problems, at present in China, not unified classification standard in this temporary by use scope, drive mode and classify control system, etc.1)According to utility centRobots can be divided into special manipulator and general manipulator two:1.special manipulatorIt is attached to the host and have fixed program without independent control system mechanism. Special manipulator with action, less work object single, simple structure and reliable operation and cost low characteristic, suitable for big affiliate, such as automatic machine, automatic line and discharge of robot and 'processing center "the automatic automation production batch cutter replacement manipulator.2. general manipulatorIt is a kind of independent control system, program variable, action flexible manipulator. Through the adjustment may be used in different occasions, driving system and lattice performance range, its actions program is variable, the control system is independent. General manipulator work range, higher precision and versatility, applicable to the production of changing medium and small batch automation production.General manipulator according to the control can be divided into different ways of the positioning of the simple type and servo type two kinds: simple type with "opening and closing" type control positioning, can only be position control: servo type has servo system, can point position control system, also can achieve continuous control path control general servo model gm manipulator belong to nc type.2)According to the driving way points1. hydraulic transmission manipulatorBased on the hydraulic pressure to drive the actuators movement of the manipulator. Its main features are: catch weight of several hundred kg, stable transmission, compact structure, action quick. But for sealing device requirements, otherwise the oil leakage strictly to the working performance of the manipulator has a great influence, and not in work under high temperature, low temperature. If the manipulator by applying electro-hydraulic servo drive system, can achieve continuous trajectory control, make the manipulator, but universal expand electro-hydraulic servo valve manufacturingprecision, oil filter, strict cost are high.2. pneumatic theories.supported manipulator based on pressure of compressed air to drive the actuators movement of the manipulator. Its main features are: media sources is extremely convenient, output force is small, pneumatic action quick, simple structure, low cost. However, due to the air has compressible characteristics and work rate, the poor stability, and impact low air pressure, catch in commonly 30 kilograms heavy weight below, under the same conditions it caught the structure than hydraulic manipulator, so suitable for high-speed, light load, high temperature and dust big environment to work in.3. mechanical transmission manipulatorNamely the mechanical transmission (such as CAM, connecting rod, gear and rack, intermittent mechanism, etc) driven manipulators. It is a kind special the attached to work host manipulator, its power is passed by working machinery. Its main characteristic is accurate and reliable, action frequency motion, but structure is bigger, action program immutable. It is often used to work and discharge of host.4. power transmission manipulatorNamely, have special structure induction motors, linear motor or power step-motor direct driving actuators movement of the manipulator, because do not need the change in the middle, so the mechanical structure simple organization. One of the manipulator, the linear motor speed and longer journeys movement, maintaining and easy to use. Such manipulator is still small, but promising.3)According to the control mode points1. position controlIts movement for space between point-to-point control movement of mobile, only the position of several points in the process, unable to control its trajectory. If you would control points, you must increase more than the complexity of the electrical control system. Current use of special and general industrial robots are such.2. continuous trajectory controlIts trajectory of any continuous curve for the space, its characteristic is set point for unlimited, the whole mobile process under control, can achieve smooth and accurate movement, and use range, but the electrical control system is complicated. This kind of industrial robots generally USES small computer control.4.The application of industrial robots in production and its significanceBecause of its high flexibility and robot in life, manufacturing performance in various fields such as plays a very important role. It can carry goods, sort and products, and can in harmful environment to protect life safety operation, instead of man's heavy labor, so are widely used in machinery manufacturing, light industry and needs goods handling various places.In modern industry, the production process automation has become a prominent theme. The automation level from all walks of life becomes more and more high, modern processing workshop, often with manipulator to improve production efficiency, complete workers difficult to complete or dangerous job. Available in mechanical industry, processing, assembling and other production largely is not continuous. According to data is introduced, the American production in all industrial parts, 75percent is small batch production; Metal processing production batch of three-quarters under 50 pieces on the machine parts in real time accounted for only parts processing production time 5%. Here you can see, loading and unloading, handling, carrying the process such as the urgency of industrial robots mechanized for realizing these processes is automated and of generation. At present the finished work of manipulator are often used to have: injection industry from the mold to grab products and fast curing to the next will product production processes; Manipulator processing industry for picking, feeding; Casting industry for high temperature melting extracted liquid etc. Robots in automation workshop for transporting materials, engaged in welding, painting, assembling process operation, but will operate workers from onerous, drab, repeat liberated the manual labor. Especially in high temperature, dangerous or harmful work environment (radioactive, poisonous gas and dust, inflammable, explosive, strong noise, etc.), usable parts operation instead of manipulator. At present, the manipulator has been widely used in casting, forging, stamping, machining, paint, the assembly and so on various processes.In mechanical industry, the significance of application manipulator can be summarized as follows:1. To improve the production process of automationThe robot conducive to the realization of materials used, workpiece loading, unloading and transmit the cutter replacement and machine assembly etc, thus the automation degree can improve labor productivity and reduce production cost.2. To improve working conditions, and avoid personal accidentIn high temperature, high pressure, low temperature, low pressure and dust, noise and smell, or radioactive or have other toxic pollution and working space in the occasion of narrow choose and employ persons is dangerous hands direct operation or impossible, and the use of robots can part or all of the replace man safe working conditions, make homework improves.In some simple, repetitive, especially a heavy operation to replace man, robot can avoid due to negligence operating fatigue or accidents.3. Can relieve human, and facilitate the rhythmic productionInstead of people applied manipulator work, it is the one aspect of the direct reduce manpower, and because the application can be continuous work, robot is to reduce the human and another side. Therefore, the comprehensive processing in automatic machine, automatic line now barely manipulator, to reduce the manpower and the more accurate control production beat, facilitate rhythmic work on production.To sum up, the effective application of mechanical industry development manipulator, is an inevitable trend.。
机械手的专用英语
机械手的专用英语English:A mechanical arm, also known as a robotic arm or industrial robot arm, is a programmable mechanical device with multiple degrees of freedom, designed to manipulate objects or perform tasks in place of a human arm. These devices are commonly used in manufacturing, assembly, and packaging processes to increase efficiency and precision. The mechanical arm typically consists of multiple joints and segments, allowing it to mimic the movement and flexibility of a human arm. It may be equipped with various end effectors, such as grippers, suction cups, or welding tools, to perform a wide range of tasks. The control system of a mechanical arm can be programmed to execute specific movements or sequences, making it versatile and adaptable to different production needs.中文翻译:机械手，也称为机器人手臂或工业机械手臂，是一种可编程的机械设备，具有多个自由度，旨在操作物体或执行任务，以取代人类手臂。
码垛机械手设计外文文献翻译、中英文翻译
码垛机械手设计ABOUT MODERN INDUSTRIAL MANIPULATOR Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development conditionin recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs.There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection.关于现代工业机械手文章出处：1994-2009 China Academic Joumal Electronic Publishing House机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济技术的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。
关于现代工业机械手外文文献翻译@中英文翻译@外文翻译
附录About Modenr Industrial Manipulayor Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realizedthe importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics anddynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an importantcomponent of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs.There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection.Robot is the automated production of a kind used in the process of crawling and movin g piece features automatic device, which is mechanized and automated production process d eveloped a new type of device. In recent years, as electronic technology, especially compute r extensive use of robot development and production of hightech fields has become a rapidl y 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 int ensity 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 a nd unloading, particularly in the automation of CNC machine tools, modular machine toolsmore commonly used. At present, the robot has developed into a FMS flexible manufacturin g systems and flexible manufacturing cell in an important component of the FMC. The mac hine tool equipment and machinery in hand together constitute a flexible manufacturing syst em 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 e nterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its enginee ring application level and comparable to foreign countries there is a certain distance, applica tion 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 cons iderations are very necessary. Therefore, the study of mechanical hand design is very meani ngful.关于现代工业机械手机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济技术的开展和各行各业对自动化程度要求的提高，机器人技术得到了迅速开展，出现了各种各样的机器人产品。
机械手外文翻译
机械手外文翻译机械手外文翻译The Design of Hand Column Type Power Machine工业机械手的设计Serope kalpak jian,Steven R.SchmidAbstract摘要Machine hand developed in recent decades as high-tech automated production equipment.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。
Industrial machine hand is an important branch of industrial machine hands. It features can be 工业机械手是工业机器人的一个重要分支。
它的特点是可通过变成来programmed tasks in a variety of expectations, in both structure and performance advantages of 完成各种预期的作业任务，在构造和性能上兼有人和机器their own people and machines, in particular, reflects the people’s intelligence and adaptability.各自的优点，尤其体现了人的智能和适应性。
The accuracy of machine hand operations and a variety of environments the ability to complete 机械手作业的准确性和在各种坏境中完成作业的能力，the work in the field of national economy and there are broad prospects for development. With the 在国民经济各领域有着广阔的发簪前景。