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 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 plastic
holding 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 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.
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 tools
more 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。现代工业机器人是人类真正的奇迹工程。一个像人那么大的机器人可以轻松地抬起超过一百磅并可以在误差0.006英寸内重复运动。更重要的是这些机器人可以每天24小时不停止地工作。在许多应用中他们是通过编程控制的，但是他们一旦编程一次，他们可以重复地做同一个工作许多年。机器人产品的实用化，既解决了许多单靠人力难以解决的实际问题，又促进了工业自动化的进程。
目前，由于机器人的研制和开发涉及多方面的技术，系统结构复杂，开发和研制的成本普遍较高，在某种程度上限制了该项技术的广泛应用，因此，研制经济型、实用化、高可靠性机器人系统具有广泛的社会现实意义和经济价值。由于我国经济建设和城市化的快速发展，城市污染排水放量增长很快，污水处理已经摆在了人们的议事日程上来。随着科学技术的发展和人类知识水平的提高，人们越来越认识到污水处理的重要性和迫切性，科学家和研究人员发现塑料制品在水中时用于污水处理的很有效地污泥菌群的附着体。塑料制品的大量需求，使得塑料制品生产的自动化和高效率要求成为经济发展的必然。本文结合塑料一次挤出成型机和塑料抓取机械手的研制过程中出现的问题，综述近几年机器人技术研究和发展的状况，在从分发挥机、电、软、硬件各自特点和优势互补的基础上，对物料抓取机械手整体机械结构、传动系统、驱动装置和控制系统进行了分析和设计，提出了一套经济型设计方案。采用直角坐标和关节坐标相结合的框架式机械结构形式，这种方式能够提高系统的稳定性和操作灵活性。传动装置的作用是将驱动元件的动力传递给机器人机械手相应的执行机构，以实现各种必要的运动，传动方式上采用结构紧凑、传动比答得蜗轮蜗杆传动和将旋转运动转换为直线运动的螺旋传动。机械手驱动系统的设计往往受到作业环境条件的限制，同时也要考虑价格因素的影响以及能够达到的技术水平。由于步进电机能都直接接收数字量，响应速度快而且工作可靠并无累计误差，常用作数字控制系统驱动机构的动力元件，因此，在驱动装置中采用由步进电机构成的环控制方式，这种方式技能满足控制精度的要求，又能达到经济型、实用化目的。
目前的工业机械臂控制将每一个机械臂的联合看做一个简单的联合伺服。伺服方法不能从分地模仿不同的动力学机械手，因为它忽略了机械手整体的运动和配置。这些控制系统的参数的变化有时是足够重要，以至于使常规的反馈控制方法失效。其结果是减少了伺服相应的速度和阻尼，限制了京都和最终效应的速度，使系统仅适用于
有限精度的工作。机械手以这种方式控制速度降低而没有不必要的震动。任何在这一领域和其它领域的机械臂性能增益要求更有效率的动态模型、精密的控制方法、专门的计算机架构和并行处理技术。
在工业生产和其它领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危及生命。自从机械手问世以来，相应的各种难题迎刃而解。机械手可在空间抓、放、搬运物体，动作灵活多样，适用于可变换生产品种的中、小批量自动化生产，广泛应用于柔性自动线。机械手一般由耐高温，抗腐蚀的材料制成，以适应现场恶劣环境，大大降低了工人的劳动强度，提高了工作效率。机械手是工业机器人的重要组成部分，在很多情况下它就可以称为工业机器人。工业机器人集机械、电子、控制、计算机、传感器、人工智能等多学科先进技术于一体化的现代制造业重要的自动化装备。广泛采用工业机器人，不仅可以提高产品的质量与产量，而且对保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。
工业机械手是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。随着工业自动化的发展, 出现了数控加工中心,它在减轻工人的劳动强度的同时, 大大提高了劳动生产率。但数控加工中常见的上下料工序, 通常仍采用人工操作或传统继电器控制的半自动化装置。前者费时费工、效率低; 后者因设计复杂, 需较多继电器,接线繁杂, 易受车体振动干扰,而存在可靠性差、故障多、维修困难等问题。可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力, 保证了系统运行的可靠性,降低了维修率, 提高了工作效率。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。
机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势......
机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，它是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手能代替人类完成危险、重复枯燥的工作，减轻人类
劳动强度，提高劳动生产力。机械手越来越广泛的得到了应用，在机械行业中它可用于零部件组装，加工工件的搬运、装卸，特别是在自动化数控机床、组合机床上使用更普遍。目前，机械手已发展成为柔性制造系统FMS和柔性制造单元FMC中一个重要组成部分。把机床设备和机械手共同构成一个柔性加工系统或柔性制造单元，它适应于中、小批量生产，可以节省庞大的工件输送装置，结构紧凑，而且适应性很强。当工件变更时，柔性生产系统很容易改变，有利于企业不断更新适销对路的品种，提高产品质量，更好地适应市场竞争的需要。而目前我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，应用规模和产业化水平低，机械手的研究和开发直接影响到我国自动化生产水平的提高，从经济上、技术上考虑都是十分必要的。因此，进行机械手的研究设计是非常有意义的。
(文档含英文原文和中文翻译) 中英文对照翻译 机械设计 摘要： 机器由机械和其他元件组成的用来转换和传输能量的装置。比如：发动机、涡轮机、车、起重机、印刷机、洗衣机和摄影机。许多机械方面设计的原则和方法也同样适用于非机械方面。术语中的“构造设计”的含义比“机
械设计”更加广泛，构造设计包括机械设计。在进行运动分析和结构设计时要把产品的维护和外形也考虑在机械设计中。在机械工程领域中，以及其它工程领域，都需要机械设备，比如：开关、凸轮、阀门、船舶以及搅拌机等。关键词：设计流程设计规则机械设计 设计流程 设计开始之前就要想到机器的实用性，现有的机器需要在耐用性、效率、重量、速度，或者成本上得到改善。新的机器必需能够完全或部分代替以前人的功能，比如计算、装配、维修。 在设计的初级阶段，应该充分发挥设计人员的创意，不要受到任何约束。即使有一些不切实际的想法，也可以在设计的早期，即在绘制图纸之前被改正掉。只有这样，才不致于阻断创新的思路。通常,必须提出几套设计方案,然后进行比较。很有可能在这个计划最后指定使用某些不在计划方案内的一些想法的计划。 一般当产品的外型和组件的尺寸特点已经显现出来的时候，就可以进行全面的设计和分析。接着还要客观的分析机器性能、安全、重量、耐用性，并且成本也要考虑在内。每一个至关重要的部分要优化它的比例和尺寸，同时也要保持与其它组成部分的平衡。 选择原材料和工艺的方法。通过力学原理来分析和实现这些重要的特性，如稳定和反应的能量和摩擦力的利用，动力惯性、加速度、能量；包括材料的弹性强度、应力和刚度等物理特性，以及流体的润滑和驱动器的流体力学。设计的过程是一个反复与合作的过程，无论是正式的还是非正式的，对设计者来说每个阶段都很重要。。产品设计需要大量的研究和提升。许多的想法,必须通过努力去研究成为一种理念,然后去使用或放弃。虽然每个工
英文原文出自《Advanced Technology Libraries》2008年第5期 Robot 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 products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. 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 the 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 lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the 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 plastic holding 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,
Hand Column Type Power Machine Follow with our country the rapid development of industrial production, rapidly enhance level of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spraing gun, spanner and other tools for processing, assembly operations for example automation, should cause the attention of people more and more. 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 CNCmachining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower commonin CNCmachining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology. 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. Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, special-purpose manipulator is attached to this machine.
密级 分类号 编号 成绩 本科生毕业设计 (论文) 外文翻译 原文标题Simple Manipulator And The Control Of It 译文标题简易机械手及控制 作者所在系别机械工程系 作者所在专业xxxxx 作者所在班级xxxxxxxx 作者姓名xxxx 作者学号xxxxxx 指导教师姓名xxxxxx 指导教师职称副教授 完成时间2012 年02 月 北华航天工业学院教务处制
译文标题简易机械手及控制 原文标题 Simple Manipulator And The Control Of It 作者机电之家译名JDZJ国籍中国 原文出处机电之家 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。由于微电子技术和计算软、硬件技术的迅猛发展和现代控制理论的不断完善,使机械手技术快速发展,其中气动机械手系统由于其介质来源简便以及不污染环境、组件价格低廉、维修方便和系统安全可靠等特点,已渗透到工业领域的各个部门,在工业发展中占有重要地位。本文讲述的气动机械手有气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。主要作用是完成机械部件的搬运工作,能放置在各种不同的生产线或物流流水线中,使零件搬运、货物运输更快捷、便利。 一.四轴联动简易机械手的结构及动作过程 机械手结构如下图1所示,有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。 图1.机械手结构 其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点);(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关);(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成);(4)旋转基座主要支撑以上3部分;(5)气控机械手的张合由气压控制(充气时机械手抓紧,放气时机械手松开)。 其工作过程为：当货物到达时,机械手系统开始动作;步进电机控制开始向下
机械手设计英文参考文 献原文翻译 Company number：【WTUT-WT88Y-W8BBGB-BWYTT-19998】
翻译人：王墨墨山东科技大学 文献题目：Automated Calibration of Robot Coordinates for Reconfigurable Assembly Systems 翻译正文如下： 针对可重构装配系统的机器人协调性的自动校准 T.艾利，Y.米达，H.菊地，M.雪松 日本东京大学，机械研究院，精密工程部 摘要 为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。当一种新的设备被装配到流水工作线时，应使其具备校准系统。该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。摄像机被随机放置，然后对每一个机械手执行一组动作。通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。最佳的结果精度为均方根值毫米。 关键词： 装配，校准，机器人 1 介绍 21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性 [1]。系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的
配置。然而，协同只是目的的一部分。在现实生产系统中，例如工作空间这类物理问题应当被有效解决。 为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。我们可以把该功能称为“插入与生产”。 表1：合作所需的调节和量度 在重构过程中，校准的装配机器人是非常重要的。这是因为，需要用它们来测量相关主体的特征，以便在物理主体之间建立良好的协作关系。这一调整必须要达到表1中所列到的多种标准要求。受力单元和方向的调整是不可避免的，以便使良好的协同控制得以实现。从几何标准上看，位置校准是最基本的部分。一般来说，校准被理解为“绝对”，即，关于特定的领域框架；或者“相对”，即，关于另一个机器人的基本框架。后者被称为“机器人之间的校准”。 个体机器人的校准已被广泛研究过了。例如，运动参数的识别就非常受欢迎。然而，很少有对机器人之间校准的研究。玉木等人是用一种基于标记的方法，在一个可重构的装配单元内，校准机器人桌子和移动机械手之间的相互位置/方向联系。波尼兹和夏发表了一种校准方法。该方法通过两个机械手的机械接触来实现，实验非常耗时，并要求特别小心地操作。
毕业设计（论文） 文献综述 设计（论文）题目：4自由度气动机械手设计 学院名称：机械工程学院 专业：机械设计制造及其自动化 学生姓名：卢锋学号：07403010309 指导教师：杨超珍 2010年12 月24 日
机械手的发展及应用 前言 机械工业是国民的装备部，是为国民经济提供装备和为人民生提供耐用消费品的产业。机械工业的规模和技术水平是衡量国家经济实力和科学技术水平的要标志。因此，世界各国都把发展机械工业作为发展本国经济的战略重点之一。生产水平及科学技术的不断进步与发展带动了整个机械工业的快速发展。现代工业中，生产过程的机械化，自动化已成为突出的主题。然而在机械工业中，加工、装配等生产是不连续的。单靠人力将这些不连续的生产工序接起来，不仅费时而且效率不高。同时人的劳动强度非常大，有时还会出现失误及伤害。显然，这严重影响制约了整个生产过程的效率和自动化程度。机械手的应用很好的解决了这一情况，它不存在重复的偶然失误，也能有效的避免了人身事故。 1.机械手的组成 1.1 执行机构 机械手主要由执行机构、驱动机构和控制系统三大部分组成。其组成及相互关系如下图： （1）手部 手部安装在手臂的前端。手臂的内孔装有转动轴，可把动作传给手腕，以转动、伸屈手腕，开闭手指。 机械手手部的机构系模仿人的手指，分为无关节，固定关节和自由关节三种。手指的数量又可以分为二指、三指和四指等，其中以二指用的最多。可以根据夹持对象的形状和大小配备多种形状和尺寸的夹头，以适应操作需要。
（2）手臂 手臂有无关节和有关节手臂之分本课所做的机械手的手臂采用无关节臂手臂的作用是引导手指准确的抓住工件，并运送到所需要的位置上。为了使机械手能够正确的工作，手臂的三个自由度都需要精确的定位。 总括机械手的运动离不开直线移动和转动二种，因此，它采用的执行机构主要是直线油缸、摆动油缸、电液脉冲马达、伺服油马达、直流伺服马达和步进马达等。 躯干是安装手臂、动力源和执行机构的支架。 1.2 驱动机构 驱动机构主要有四种：液压驱动、气压驱动、电气驱动和机械驱动。其中以液压气动用的最多，占90%以上，电动、机械驱动用的较少。 液压驱动主要是通过油缸、阀、油泵和油箱等实现传动。它利用油缸、马达加上齿轮、齿条实现直线运动；利用摆动油缸、马达与减速器、油缸与齿条、齿轮或链条、链轮等实现回转运动。液压驱动的优点是压力高、体积小、出力大、运动平缓，可无级变速，自锁方便，并能在中间位置停止。缺点是需要配备压力源，系统复杂成本较高。 气压驱动所采用的元件为气压缸、气压马达、气阀等。一般采用4-6 个大气压，个别的达到 8-10 个大气压。它的优点是气源方便，维护简单，成本低。缺点是出力小，体积大。由于空气的可压缩性大，很难实现中间位置的停止，只能用于点位控制，而且润滑性较差，气压系统容易生锈。 电气驱动采用的不多。现在都用三相感应电动机作为动力，用大减速比减速器来驱动执行机构；直线运动则用电动机带动丝杠螺母机构；有的采用直线电动机。通用机械手则考虑用步进电机、直流或交流的伺服电机、变速箱等。电气驱动的优点是动力源简单，维护，使用方便。驱动机构和控制系统可以采用统一形式的动力，出力比较大；缺点是控制响应速度比较慢。机械驱动只用于固定的场合。一般用凸轮连杆机构实现规定的动作。它的优点是动作确实可靠，速度高，成本低；缺点是不易调整。 1.3 控制系统 机械手控制系统的要素，包括工作顺序、到达位置、动作时间和加速度等。 控制系统可根据动作的要求，设计采用数字顺序控制。它首先要编制程序加以存储，然后再根据规定的程序，控制机械手进行工作。随着科学技术的发展，机械手也越来越多的地被应用。
外文出处：《Manufacturing Engineering and Technology—Machining》 附件1：外文原文 Manipulator Robot developed in recent decades as high-tech automated production equipment. I ndustrial robot is an important branch of industrial robots. It features can be program med to perform tasks in a variety of expectations, in both structure and performance a dvantages of their own people and machines, in particular, reflects the people's intellig ence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad p rospects for development. With the development of industrial automation, there has be en CNC machining center, it is in reducing labor intensity, while greatly improved lab or productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device . The former time-consuming and labor intensive, inefficient; the latter due to design c omplexity, require more relays, wiring complexity, vulnerability to body vibration inte rference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a stron g anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, elec trical hydraulic technology, automatic control technology, sensor technology and com puter technology and other fields of science, is a cross-disciplinary integrated technol ogy. First, an overview of industrial manipulator Robot 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
译文一 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。现代工业机器人是人类真正的奇迹工程。一个像人那么大的机器人可以轻松地抬起超过一百磅并可以在误差 +-0.006英寸误差范围内重复的移动。更重要的是这些机器人可以每天24小时永不停止地工作。在许多应用中（特别是在自动工业中）他们是通过编程控制的，但是他们一旦编程一次，他们可以重复地做同一工作许多年。机器人产品的实用化，既解决了许多单靠人力难以解决的实际问题，又促进了工业自动化的进程。 目前，由于机器人的研制和开发涉及多方面的技术，系统结构复杂，开发和研制的成本普遍较高，在某种程度上限制了该项技术的广泛应用，因此，研制经济型、实用化、高可靠性机器人系统具有广泛的社会现实意义和经济价值。由于我国经济建设和城市化的快速发展，城市污水排放量增长很快，污水处理己经摆在了人们的议事日程上来。随着科学技术的发展和人类知识水平的提高，人们越来越认识到污水处理的重要性和迫切性，科学家和研究人员发现塑料制品在水中是用于污水处理的很有效的污泥菌群的附着体。塑料制品的大量需求，使得塑料制品生产的自动化和高效率要求成为经济发展的必然。本文结合塑料一次挤出成型机和塑料抓取机械手的研制过程中出现的问题，综述近儿年机器人技术研究和发展的状况，在充分发挥机、电、软、硬件各自特点和优势互补的基础上，对物料抓取机械手整体机械结构、传动系统、驱动装置和控制系统进行了分析和设计，提出了一套经济型设计方案。采用直角坐标和关节坐标相结合的框架式机械结构形式，这种方式能够提高系统的稳定性和操作灵活性。传动装置的作用是将驱动元件的动力传递给机器人机械手相应的执行机构，以实现各种必要的运动，传动方式上采用结构紧凑、传动比大的蜗轮蜗杆传动和将旋转运动转换为直线运动的螺旋传动。机械手驱动系统的设计往往受到作业环境条件的限制，同时也要考虑价格因素的影响以及能够达到的技术水平。由于步进电机能够直接接收数字量，响应速度快而且工作可靠并无累积误差，常用作数字控制系统驱动机构的动力元件，因此，在驱动装置中采用由步进电机构成的开环控制方式，这种方式既能满足控制精度的要求，又能达到经济性、实用化目的，在此基础上，对步进电机的功率计一算及选型问题经行了分析。在完成机械结构和驱动系统设计的基础上，对物料抓取机械手运动学和动力学进行了分析。运动学分析是路径规
机械手外文翻译 . Manipulator Along with our country the rapid development of industrial production, rapidly improve degree of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spray gun, spanner and other tools for processing, assembly operations such as automation, should cause the attention of people more and more. Manipulator is to imitate the people part of the action, according to a given program, track and demanding acquirement, handling or operation of the automatic device. Applied in the industrial production of the manipulator is referred to as "industrial manipulator". Application manipulator can improve the automation of production water in production and labor productivity; Can reduce labor fatigue strength, to ensure product quality, implement safety production; Especially in high temperature and high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as harsh environment, it instead of people normal work, the more significant. Therefore, in the machining, casting, welding, heat treatment, electroplating, spray painting, assembly, and light industry, transportation industry get more and more extensive application, etc.
Robot 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 products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. 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 the 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 lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the 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 plastic holding 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 and the arthrosis 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
外文翻译 Introduction to Robotics Mechanics and Control 机器人学入门 力学与控制 系别：机械与汽车工程系 专业名称：机械设计制造及其自动化学生姓名：郭仕杰 学号：06101315 指导教师姓名、职称：贺秋伟副教授 完成日期2014 年2 月28日
Introduction to Robotics Mechanics and Control Abstract This book introduces the science and engineering of mechanical manipulation. This branch of the robot has been in several classical field based. The main related fields such as mechanics, control theory, computer science. In this book, Chapter 1 through 8 topics ranging from mechanical engineering and mathematics, Chapter 9 through 11 cover control theory of material, and twelfth and 13 may be classified as computer science materials. In addition, this book emphasizes the computational aspects of the problem; for example, each chapter it mainly mechanical has a brief section calculation. This book is used to teach the class notes introduction to robotics, Stanford University in the fall of 1983 to 1985. The first and second versions have been through 2002 in use from 1986 institutions. Using the third version can also benefit from the revised and improved due to feedback from many sources. Thanks to all those who modified the author's friends. This book is suitable for advanced undergraduates the first grade curriculum. If students have contributed to the dynamics and linear algebra course in advanced language program in a basic course of statics. In addition, it is helpful, but not absolutely necessary, let the students finish the course control theory. The purpose of this book is a simple introduction to the material, intuitive way. Specifically, does not need the audience mechanical engineer strict, although much of the material is from the field. At the Stanford University, many electrical engineers, computer scientists, mathematicians find this book very readable. Here we only on the important part to extract. The main content 1、B ackground The historical characteristics of industrial automation is popular during the period of rapid change. Either as a cause or an effect of automation technology, period of this change is closely linked to the world economy. Use of industrial robots, can be identified in a unique device 1960's, with the development of computer aided design (CAD) system and computer aided manufacturing (CAM) system, the latest trends, automated manufacturing process. The technology is the leading industrial automation through another transition, its scope is still unknown. In