关于现代工业机械手外文文献翻译@中英文翻译@外文翻译

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

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

本文档提供了一些关于机械手臂应用领域的外文文献，并附有简要的翻译。

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

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

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

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

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

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

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

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

本科毕业论文（设计）相关中英文翻译资料资料题目：工业机械手设计学生姓名：所在院系：机电学院所学专业：机电技术教育完成时间：Industry manipulatorThe industry manipulator is one kind of high tech automation production equipment which the nearly several dozens years develop, the industry manipulator is an industry robot important branch, its characteristic is may complete each kind of anticipated work task through the programming, has at the same time the human and the machine respective merit in the structure and the performance, has manifested human's intelligence and the compatibility especially, in the manipulator work accuracy and each kind of environment completes the work ability, has the broad prospects for development in the national economy various domains, along with the industrial automation development, appeared the numerical control processing center, it while reduces worker's labor intensity, enhanced the labor productivity greatly, butIn numerical control processing common on yummy treats working procedure, usually still used the manual control or the tradition black-white control semiautomatic installment, the former required a lot of work time-consuming, the efficiency is low, because the latter designed complex, had many relays, the wiring to be numerous and diverse, is vibrated easily the chassis the disturbance, but had the reliability badly, the breakdown many, questions and so on service difficulty, the programmable controller PLC control on yummy treats manipulator control system movement simple, the line design reasonable, had the strong antijamming ability, had guaranteed the system movement reliability, reduced the service rate, enhanced the working efficiency.The manipulator technology involves to mechanics, mechanics, the electrical hydraulic pressure technology, the automatic control technology, the sensor technology and the computer technology and so on, is an interdisciplinary comprehensive technology.The manipulator is one kind can automate the localization control and may program the multi-purpose machines which the foreword changes, it has many degrees of freedom, available transports the object to complete in each different environment works.In wage level low China, plastic product profession although still belonged to the labor force intensity, manipulator's use already more and more popularized, these electronic and automobile industry European and American Multinational corporation was very early on is located in China's factory in them to introduce the automated production, but the present change was these distributes in industry crowded South China, East China coastal area Chinese Native place Plastic Processing factory also starts to the mechanical wristwatch to appear the more and more strong interest, because they had to face the worker rate of personnel loss to be high, as well as the halving belt came challenge.Along with our country industrial production leap development, the automaticity rapid enhancement, realization work piece loading and unloading, welding torch, spray gun, trigger tools and so on changes, the transportation or manages carries on work and so on processing, assembly automations, has brought to people's attention increasingly, simultaneously also requests the feeder construction to be more nimble, the flexibility, adapts for delivers the different goods, this enables for the feeding manipulator in the automaton, to obtain the increasingly widespread application from the generatrix in.In the production may enhance the production using the manipulator the automated level and the labor productivity, may reduce the labor intensity, the guarantee product quality, the realization safety in production, the industry manipulator can replace the human in the industrial production to make certain monotonous, frequent and the redundant long time work, perhaps dangerous, under adverse circumstance work, for example in the ramming, the pressure casting, the heat treatment, the welding, the painting, plastic working procedures and so on in product forming, machine-finishing and simple assembly, as well as in departments and so on in atomic-energy industry, completes to the human body harmful material transportingor the craft operation, as well as aspects and so on light industry, transportation shipping industry obtain the more and more widespread application.工业机械手工业机械手是近几十年发展起来的一种高科技自动化生产设备，工业机械手是工业机器人的一个重要分支，它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性，机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景，随着工业自动化的发展，出现了数控加工中心,它在减轻工人的劳动强度的同时，大大提高了劳动生产率，但数控加工中常见的上下料工序，通常仍采用人工操作或传统继电器控制的半自动化装置，前者费时费工、效率低，后者因设计复杂，需较多继电器,接线繁杂，易受车体振动干扰，而存在可靠性差、故障多、维修困难等问题，可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力，保证了系统运行的可靠性，降低了维修率，提高了工作效率。

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。

第一章概述1. 1机械手的发展历史人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。

工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。

从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。

机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。

近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。

许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。

我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。

工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。

这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。

1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。

从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。

因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。

近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。

机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。

特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。

外文原文Introduction to Industrial RobotsIndustrial robets became a reality in the early 1960’s when Joseph Engelberger and George Devol teamed up to form a robotics company they called “Unimation”. Engelberger and Devol were not the first to dream of machines that could perform the unskilled, repetitive jobs in manufacturing. The first use of the word “robots” was by the Czechoslovakian philosopher and playwright Karel Capek in his play R.U.R.(Rossum’s Universal Robot). The word “robot” in Czech means “worker” or “slave.” The play was written in 1922.In Capek’s play , Rossum and his son discover the chemical formula for artificial protoplasm. Protoplasm forms the very basis of life.With their compound,Rossum and his son set out to make a robot.Rossum and his son spend 20 years forming the protoplasm into a robot. After 20 years the Rossums look at what theyhave created and say, “It’s absurd to spend twenty years making a man if we can’t make him quicker than nature, you might as w than nature, you might as well shut up shop.” ell shut up shop.”The young Rossum goes back to work eliminating organs he considers unnecessary for the ideal worker. The young Rossum says, “A man is something that feels happy , plays piano ,likes going for a walk, and in fact wants to do a whole lot of things that are unnecessary … but a working machine must not play piano, must not feel happy, must not do a whole lot of other things. Everything that doesn’t contribute directly to the progress of work should be eliminated.”A half century later, engi neers began building Rossum’s robot, not out of artificial protoplasm, but of silicon, hydraulics, pneumatics, and electric motors. Robots that were dreamed of by Capek in 1922, that work but do not feel, that perform unhuman or subhuman, jobs in manufacturing plants, are available and are in operation around the world.The modern robot lacks feeling and emotions just as Rossum’s son thought it should. It can only respond to simple “yes/no” questions. The moderrn robot is normally bolted to the floor. It has one arm and one hand. It is deaf, blind, and dumb. In spite of all of these handicaps, the modern robot performs its assigned task hour after hour without boredom or complaint.A robot is not simply another automated machine. Automation began during the industrial revolution with machines that performed jobs that formerly had been done by human workers. Such a machine, however , can do only the specific job for which it was designed, whereas a robot can perform a variety of jobs.A robot must have an arm. The arm must be able to duplicate the movements of a human worker in loading and unloading other automated machines, spraying paint, welding, and performing hundreds of other jobs that cannot be easily done with conventional automated machines.DEFINITION OF A ROBOTThe Robot Industries Association(RIA) has published a definition for robots in an attempt to clarify which machines are simply automated machines and which machines are truly robots. The RIA definition is as follows:“A robot is a reprogrammabl reprogrammable e multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”This definition, which is more extensive than the one in the RIA glossary at the end of this book, is an excellent definition of a robot. We will look at this definition, one phrase at a time, so as to understand which machines are in fact robots and which machines are little more than specialized automation.First, a robot is a “reprogrammable multifunctional manipulator.” In this phrase RIA tells us that a robot can be taught (“reprogrammed”) to do more than one job by changing the informaion stored in its memory. A robot can be reprogrammed to load and unload machines, weld, and do ma and unload machines, weld, and do many other jobs (“multifunctional”). A robot is a ny other jobs (“multifunctional”). A robot is a“manipulator”. A manipulator is an arm( or hand ) that can pick up or move things. At this point we know that a robot is an arm that can be taught to do different jobs.The definition goes on to say that a ro The definition goes on to say that a robot is “designed to move material, parts, bot is “designed to move material, parts, tools, or specialized devices.” Material includes wood,steel, plastic, cardboard… anything that is used in the manufacture of a product.A robot can also handle parts that have been manufactured. For example, a robot can load a piece of steel into an automatic lathe and unload a finished part out of the lathe. In addition to handling material and parts, a robot can be fitted with tools such as grinders, buffers, screwdrivers, and welding torches to perform useful work.Robots can also be fitted with specialized instruments or devices to do special jobs in a manufacturing plant. Robots can be fitted with television cameras for inspection of parts or products. They can be fitted with lasers to accurately mearure the size of parts being manufactured.The RIA definition closes with the phrase,”…through variable programmed motions for the performance of a variety of tasks.” This phrase emphasizes the fact that a robot can do many different jobs in a manufacturing plant. The variety of jobs that a robot can do is limited only by the creativity of the application engineer. JOBS FOR ROBOTSJobs performed by robots can be divided into two major categories:hazardous jobs and repetitive jobs. Hazardous JobsMany applications of robots are in jobs that are hazardous to humans. Such jobs may be considered hazardous because of toxic fumes, the weight of the material being handled, the temperature of the material being handled, the danger of working near rotating or press machinery, or environments containing high levels of radiation. Repetitive JobsIn addition to taking over hazardous jobs, robots are well suited to doingextremely repetitive jobs that must be done in manufacturing plants.many jobs in manufacturing plants require a person to act more like a machine than like a human.The job may be to pick a piece up from here and place it there. The same job is donehundreds of times each day. The job requires little or no judgment and little or no skill.This is not said as a criticism of the person who does the job , but is intended simplyto point out that many of these jobs exist in industry and must be done to complete themanufacture of products. A robot can be placed at such a work station and can perform the job admirably without complaining or experiencing the fatigue and boredom normally associated with such a job.Although robots eliminate some jobs in industry, they normally eliminate jobs thathumans should never have been asked to do. Machines should perform as machines doing machine jobs, and humans should be placed in jobs that require the use of their ability,creativity, and special skills.POTENTIAL FOR INCREASED PRODUCTIVITYIn addition to removing people from jobs they should not have been placed in,robots offer companies the opportunity of achieving increased productivity. Whenrobots are placed in repetitive jobs they continue to operate at their programmed pacewithout fatigue. Robots do not take either scheduled or unscheduled breaks from thejob. The increase in productivity can result in at least 25% more good parts beingproduced in an eight-hour shift. This increase in productivity increases the company'sprofits, which can be reinvested in additional plants and equipment. This increase in productivity results in more jobs in other departments in the plant. With more parts being produced, additional people are needed to deliver the raw materials to the plant, to complete the assembly of the finished products, to sell the finished products, and to deliver the products to their destinations.ROBOT SPEEDAlthough robots increase productivity in a manufacturing plant, they are notexceptionally fast. At present, robots normally operate at or near the speed of a human operator. Every major move of a robot normally takes approximately one second. Fora robot to pick up a piece of steel from a conveyor and load it into a lathe may requireten different moves taking as much as ten seconds. A human operator can do the samejob in the same amount of time . The increase in productivity is a result of theconsistency of operation. As the human operator repeats the same job over and overduring the workday, he or she begins to slow down. The robot continues to operate at its programmed speed and therefore completes more parts during the workday.Custom-built automated machines can be built to do the same jobs that robots do.An automated machine can do the same loading operation in less than half the timerequired by a robot or a human operator. The problem with designing a special machine is that such a machine can perform only the specific job for which it was built. If any change is made in the job, the machine must be completely rebuilt, or the machine must be scrapped and a new machine designed and built. A robot, on the other hand, could be reprogrammed and could start doing the new job the same day.Custom-built automated machines still have their place in industry. If a companyknows that a job will not change for many years, the faster custom-built machine isstill a good choice.Other jobs in factories cannot be done easily with custom-built machinery. For these applications a robot may be a good choice. An example of such an application is spray painting. One company made cabinets for the electronics industry. They made cabinets of many different sizes, all of which needed painting. It was determined that it was not economical for the company to build special spray painting machines for each of the different sizes of enclosures that were being built. Until robots were developed, the company had no choice but to spray the various enclosures by hand.Spray painting is a hazardous job , because the fumes from many paints are both toxic and explosive. A robot is now doing the job of spraying paint on the enclosures.A robot has been “taught” to spray all the different sizes of enclosures that thecompany builds. In addition, the robot can operate in the toxic environment of the spray booth without any concern for the long-term effect the fumes might have on aperson working in the booth.FLEXIBLE AUTOMATIONRobots have another advantage: they can be taught to do different jobs in the manufacturing plant. If a robot was originally purchased to load and unload a punch press and the job is no longer needed due to a change in product design, the robot can be moved to another job in the plant. For example, the robot could be moved to the end of the assembly operation and be used to unload the finished enclosures from a conveyor and load them onto a pallet for shipment.ACCURACY AND REPEATABILITYOne very important characteristic of any robot is the accuracy with which it can perform its task. When the robot is programmed to perform a specific task, it is led to specific points and programmed to remember the locations of those points. After programming has been completed, the robot is switched to “run” and the program is executed. Unfortunately, the robot will not go to the exact location of any programmed point. For example, the robot may miss the exact point by 0.025 in. If 0.025 in. is the greatest error by which the robot misses any point- during the first execution of the program, the robot is said to have an accuracy of 0.025 in.In addition to accuracy , we are also concerned with the robot’s s repeatability. The In addition to accuracy , we are also concerned with the robot’repeatability of a robot is a measure of how closely it returns to its programmed points every time the program is executed. Say , for example, that the robot misses a programmed point by 0.025 in. the first time the program is executed and that, during the next execution of the program, the robot misses the point it reached during the previous cycle by 0.010 in. Although the robot is a total of 0.035 in. from the original programmed point, its accuracy is 0.025 in. and its repeatability is 0.010 in.THE MAJOR PARTS OF A ROBOTThe major parts of a robot are the manipulator, the power supply, and the controller.The manipulator is used to pick up material, parts, or special tools used in manufacturing. The power supply suppplies the power to move the manipulator. The controller controls the power supply so that the manipulator can be taught to perform its task.外文翻译工业机器人的介绍工业机器人的介绍20世纪60年代当约瑟夫和乔治合作创立了名为Unimation 的机器公司，工业机器人便成为了一个事实。

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。

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

工业机械手是工业机器人的一个重要分支。

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

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

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

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

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

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

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

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

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

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

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

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

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

机械手英文文献机器翻译机械手英文文机器译献翻译译外文文献译藏<<?This is a application of Application Ser. No. 10/799,595, filed on Mar. 15, 2004 now U.S. Pat. No. 7,081,700. FIELD OF THE INVENTION The present invention relates to a manipulator such as a minute component assembly apparatus which assembles a minute object such as a micromachine component or unit by using a magnifying observation device such as an optical microscope, electron microscope, or scanning tunneling microscope, or a compact manipulator apparatus which performs diagnosis, medical treatment, research, biological production, or the like by physically manipulating, for example, minute tissues, cells, or genes of a living body and a minute object manipulating apparatus using the manipulator. BACKGROUND OF THE INVENTION There have been known a technique of controlling the posture of a manipulating member (end-effector) by rotating a general size arm using a general size bearing and a technique of performing a necessary process on a minute work in a working device by rotating an arm or tool along an arcuated guide (see, for example, Japanese Patent Laid-Open No. 7-256575). In a conventional apparatus like those described above, if the distal end of an end-effector is not located on the rotation axis of a bearing or arcuated guide, the distal end of the end-effector moves out of the visual field or depth of focus of a microscope due to posture control operation. Thismakes it necessary to position the microscope and the distal end of the end-effector again. As described above, in a manipulator which manipulates a minute object, when the posture of the end-effector at the distal end is controlled, the manipulation target object often moves out of the visual field of the microscope. In a conventional manipulator having three degrees of rotational freedom, in particular, since the rotation axes corresponding to the respective degrees of freedom do not coincide with each other and do not cross at one point, the distal endof the end-effector tends to move out of the visual field or depth of focus of the microscope due to posture control operation. In such a case, the microscope and the distal end of the end-effector must be positioned again. This operation requires a long period of time. SUMMARY OF THE INVENTION It is an object of the present invention to provide a manipulator such as a compact manipulator apparatus which solves the above problems and manipulates a minute target object, and a minute object manipulating apparatus or the like using the manipulator. Inorder to achieve the above object, according to the present invention, there is provided a manipulator comprising: a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes; all the plurality of free rotation axes crossing at one point; and, a manipulation distal end portion of the manipulating member being placed near the intersection. According to this arrangement, the manipulator has a mechanism in which a plurality of (typically three) free rotation axes cross at one point, and the distal end portion of amanipulating member (end-effector) which manipulates a manipulation target object is placed near the intersection. With this structure, even if, for example, the posture of the end-effector is changed, its distal end portion can be made to remain within the visual field of a microscope. The following embodiment can be provided on the basis of the above basic arrangement. According to an embodiment of the present invention, the manipulating member is integrally mounted on a spherical shell movable member, the manipulation distal end portion of the manipulating member is placed near the center of the spherical shell movablemember, the spherical shell movable member is in contact with a vibration member which can vibrate, and rotation of the spherical shell movable member around the center thereof is controlled by controlling vibration of the vibration member, thereby controlling a posture of the manipulating member. When the rotation of the movable member in the form of a spherical shell is controlled by controlling the vibration of the vibration member, the distal end portion of the end-effector is made to remain within the visual field of the microscope even if the posture of the end-effector is changed. According to another embodiment of the present invention, the manipulator further comprises: first rotating means for rotating a first rotating shaft on which a first arm is mounted; second rotating means for rotating a second rotating shaft which is mounted on the first arm and on which a second arm is mounted; and third rotating means for rotating a third rotating shaft which ismounted on the second arm and on which a third arm is mounted, wherein the manipulating member is mounted on the third rotating shaft, and the first, second, and third rotating shafts pass through a manipulation distal end portion of the manipulating member. In addition, in order to achieve the above object, according to the present invention, there is provided a minute object manipulating apparatus comprising: a manipulator comprising a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes, all the plurality of free rotation axes crossing at one point, and a manipulation distal end portion of the manipulating member being placed near the intersection; a magnifying observation device for magnifying observation of the manipulation target object and the manipulationdistal end portion of the manipulating member; and a remote controller for remotely controlling the manipulator. This apparatus also makes the most of the advantages of the above manipulator. In addition, for example, the manipulator can be placed on the upper side of a manipulation target object, and the magnifying observation device can be placed on the lower side of the manipulation target object. Other features and advantages of the present invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts throughout the figures thereof. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the presentinvention will now be described in detail in accordance with the accompanying drawings. First Embodiment The first embodiment of the present invention will be described first with reference to FIGS. 1 and 2A to 2D. This embodiment uses a mechanism in which all the axes corresponding to three degrees of rotational freedom cross at one point. In this system, the center of the distal end manipulating portion of an end-effector is placed near the center of the spherical rotating member of a vibration actuator having three degrees of freedom like the one disclosed in Japanese Patent Laid-Open No. 11-220891. In such avibration actuator, rotation axes can be arbitrarily set. Since all the rotation axes pass through the center of a spherical rotating member, a simple system with high rigidity can be formed by using this actuator. As a sensor for feeding back the position and velocity of the spherical rotating member, a two-dimensional position sensor using a detection principle like that disclosed in Japanese Patent Laid-Open No. 10-65882 is suitably used. This sensor irradiates a spherical surface with light emitted from an irradiation source based on the optical mouse system or the like to form an irradiation pattern constituted by a high-luminance region and a relatively low-luminance region corresponding to the minute shape of the spherical surface. Movement information is then obtained by using the movement of the irradiation pattern based on the relative movement between the spherical surface and the sensor. FIG. 1 is a view which is most indicative of the main part of this embodiment. Reference numerals 20-1, 20-2, and20-3 denote the first, second, and third elastic member vibration elements of a multiple degree-of-freedom vibration actuator, respectively; and 1-1 and 1-2, piezoelectric ceramics which generate bending vibrations and longitudinal vibrations, respectively. Each vibration element 20 is fixed/supported on a frame (not shown) with an arm portion (see 1#x2013;2#x2032; in FIG. 6) extending from an electrode plate portion for a piezoelectric ceramic in the radial direction. The driving principle and arrangement of the multiple degree-of-freedom vibration actuator will be described in detail later. Reference numeral 2 denotes a movable member in the form of a spherical shell whose spherical surface comes into contact with the vibration element 20-1. In this embodiment, only a portion of the movable member 2 is a spherical surface, which comes into contact with the vibration element 20-1. The mechanism of driving control will be described later. Reference numeral 3 denotes a micro-hand which is integrally mounted on the mount portion of the lower portion of the movable member 2 in the form of a spherical shell. The micro-hand 3 has manipulation functions such as a function of grasping or releasing a minute object such as a cell and a function of performing a process such as forming a hole in a minute object orcutting it. The micro-hand 3 is placed near the center of the spherical surface of the movable member 2. Reference numeral 4 denotes a vessel in which a minute object such as a cell is stored. The vessel 4 is made of a transparent material such as glass. A liquid such as physiological saline solution is often contained in the vessel 4. Reference numeral 5denotes an X-Y or X-Y-Z stage which can adjust the relative position between the micro-hand 3 and a minute object as a manipulation target object by adjusting the position of the vessel 4 on the stage; and 6, a magnifying observation device such as a microscope, which magnifies images of the manipulation target object and micro-hand 3 to allow observation of them. Referring to FIG. 1, the magnifying observation device 6 allows observation from below the transparent vessel 4 through the hole in the center of the X-Y-Z stage 5. Reference numeral 7 denotes a magnet which attracts and holds the movable member 2 made of iron, and also has a function of bringing the spherical surface of the movable member 2 into contact with the vibration element 20-1 with a constant pressure. The details of the multiple degree-of-freedom vibration actuator will be described. FIGS. 2A to 2D show the driving principle of this vibration actuator. A piezoelectric element 33 serving as anelectro-mechanical energy converting element which provides the displacements shown in FIGS. 2B to 2D is clamped/fixed betweencylindrical elastic members 31 each serving as a single vibration member. The piezoelectric element is formed by stacking a plurality of single piezoelectric element plates with electrode plates being inserted between the piezoelectric element plates as needed. This allows an alternating signal for driving to be applied to each necessary piezoelectric element plate. In this case, the piezoelectric element 33 repeats expansion and contraction displacements in the axial direction upon application of alternating signals, and includes the firstpiezoelectric element which excites longitudinal vibration as a displacement in the direction of the z-axis of the three axes, i.e., the x-axis, y-axis, and z-axis, as shown in FIG. 2B, the secondpiezoelectric element which excites transverse (bending) vibrationwithin the z-x plane as shown in FIG. 2C, and the third piezoelectric element which excites transverse (bending) vibration within the z-y plane as shown in FIG. 2D. The above first piezoelectric element is uniformly polarized in the thickness direction. Each of the second and third piezoelectric elements is polarized such that the portions on both sides of the diameter have opposite polarities in the thickness direction. When, for example, alternating signals having a phase difference of 90#xb0; are applied to the second and third piezoelectric elements, two bending vibrations in the vibration member combine to form anelliptic motion around the z-axis (within the x-y plane) on the surface of the vibration member. In this case, since the natural frequency of the vibration member with respect to the x-axis is almost equal to that with respect to the y-axis, the above elliptic vibration can be generated by applying alternating signals having this natural frequency as a driving frequency to the second and third piezoelectric elements. When an alternating signal having a frequency almost equal to the natural frequency in the z-axis direction of the vibration member is applied to the first piezoelectric element, the vibration member repeats longitudinal vibration of the primary mode at a predetermined period. Inthis case, when an alternating signal is applied to the second piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the x-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the x-axis direction (around the y-axis). In this case, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of the primary mode of bending vibration in the x-z plane, the second piezoelectric element is drivenin the secondary mode of the natural frequency of bending vibration in the x-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2C. Likewise, when an alternating signal is applied to the third piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the y-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the y-axis direction (around the x-axis). In this case, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of bending vibration within the y-z plane, the third piezoelectric element is driven in the secondary mode of the natural frequency of bending vibration in the y-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2D. That is, when an alternatingsignal having a frequency similar to the natural frequency of avibration member 1, e.g., an AC voltage, is applied to the first, second, and third piezoelectric elements, longitudinal vibration or transverse (bending) vibration having a natural frequency is excited in thevibration member as shown in FIGS. 2B to 2D. When an alternating signalis selectively applied to two of the first, second, and third piezoelectric elements, the longitudinal vibration of the vibration member 1 is combined with transverse (bending) vibration in a direction perpendicular to that of the longitudinal vibration to produce anelliptic motion at a point on the surface of the vibration member 1. For example, the vibrations shown in FIGS. 2B and 2C are combined with each other to produce an elliptic motion within the x-z plane. When the vibrations shown in FIGS. 2B and 2D are combined with each other, an elliptic motion within the y-z plane is produced. When the vibrations shown in FIGS. 2C and 2D are combined with each other, an ellipticmotion within the x-y plane is produced. When, therefore, a movable member (the movable member 2 in FIG. 1) is pressed against a portion of the vibration member, the movable member can be driven in a plurality of directions. In this case, elliptic motions around the three axes (within three orthogonal planes) can be produced by combining three-phase piezoelectric elements (first, second, and third piezoelectric elements). This makes it possible to realize a vibration actuator which can be driven within three orthogonal planes by using a single vibration member. FIG. 1 shows the basic arrangement of a vibration member in thevibration actuator of this embodiment shown in FIG. 1. In this case, the vibration member includes the first elastic member vibration element 20-1 having a female threaded portion formed in the inner diameterportion and the second and third elastic member vibration elements20-2 and 20-3 each having a hole formed in a central portion. The piezoelectric elements 1-2 and 1-1 are placed between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 and between the second elastic member vibration element 20-2 and the third elastic member vibration element 20-3. A fastening bolt 22 which is inserted from the third elastic member vibration element 20-3 side and serves as a central shaft member is screwed in the female threaded portion of the first elastic member vibration element 20-1. With this structure, the piezoelectric elements 1-2 and 1-1 are clamped between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 and between the second elastic member vibration element 20-2 and the third elastic member vibration element 20-3 so as to be integrally coupled to each other. In this embodiment, the piezoelectric element 1-2 placed between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 is the first piezoelectric element which excites, for example, longitudinal vibration in the vibration member. The piezoelectric element 1-1 placed between the second elastic member vibration element 20-2 and the third elastic member vibration element20-3 includes the second piezoelectric element which produces bendingvibration within the x-z plane and the third piezoelectric element which produces bending vibration within the y-z plane. The second and third piezoelectric elements are so positioned as to have a phase difference of 90#xb0;. The inner surface of the distal end portion of the first elastic member vibration element 20-1, which comes into contact with the movable member 2 in the form of a spherical shell and is oblique with respect to the axis, is formed into a tapered surface. In this embodiment, therefore, the movable member 2 in the form of a spherical shell can be rotated about the x-axis, y-axis, and z-axis by combining two kinds of vibrations of longitudinal vibration and vibrations in the two directions which are produced in the vibration member. For example, a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the z-axis, a combination of the vibrations shown in FIGS. 2B and 2C can rotate the movable member 2 about the y-axis, and a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the x-axis. That is, the movable member 2 can rotate about three orthogonal axes. By controlling the vibrations of the vibration elements 20, the movable member 2 can be rotated/controlled about an arbitrary axis. In this case, since the micro-hand 3 is located at the center of the spherical surface of the movable member 2, only the posture of the micro-hand 3 always changes at the same position. Even if posture control operation is done, since the position of the micro-hand 3 does not change, the manipulation target object never moves out of the visual field of the microscope 6. The above description has exemplifiedcontrol on the posture of the micro-hand 3. When, however, the posture of a manipulation target object such as a cell is to controlled, it suffices if the posture of the micro-hand 3 is changed after the manipulation target object is grasped by the micro-hand 3, and then the manipulation target object is released. In this case as well, since the position of the manipulation target object does not change, it never moves out of the visual field of the microscope 6. In the apparatus of this embodiment, the relative position of a manipulation target object can be adjusted by the X-Y-Z stage 5, and the posture and direction of the object can be adjusted by controlling the vibrations of thevibration elements 20-1 to 20-3. Although FIG. 1 shows the rod-like vibration elements, vibration elements like those shown in FIGS. 3A to3D or FIGS. 4A to 4D may be used. According to the form of the vibration actuator shown in FIGS. 3A to 3D, a single vibration member 200 is formed by joining a cylindrical elastic member 201 to a disk-likeelastic member202. The elastic member 201 is actually divided into two portions, and piezoelectric elements 203 and 204 serving as two electro-mechanical energy converting elements are clamped between the two portions. Piezoelectric elements 205a to 205d serving as four electro-mechanical energy converting elements are arranged on the surface of the disk-like elastic member 202. The piezoelectric element 203 is used to displace the elastic member 201 serving as a driving portion in the x-axis direction, as shown in FIG. 3C. The piezoelectric element 204 is used todisplace the elastic member 201 in the y-axis direction. As shown in FIG. 3B, the piezoelectric elements 203 and 204 have a polarization phase difference of 90#xb0;. On the other hand, all the piezoelectric elements 205a to 205d are polarized to have the same characteristics. When the disk-like elastic member 202 is bent as shown in FIG. 3D, the elastic member 201 serving as a driving portion is displaced in the z-axis direction. A spherical movable member 206 (the movable member 2 in FIG. 1) is in contact with the elastic member 201 serving as a driving portion. The movable member 206 can be rotated about the x-axis by supplying alternating signals to the piezoelectric element 204 and the piezoelectric elements 205a to 205d with, for example, a phasedifference of 90#xb0;. By supplying alternating signals to the piezoelectric element 203 and the piezoelectric elements 205a to 205d with, for example, a phase difference of 90#xb0;, the movable member 206 can be rotated about the y-axis. When the movable member 206 is to be rotated about z-axis, alternating signals are supplied to the piezoelectric elements 203 and 204 with, for example, a phase difference of 90#xb0; According to the form of the vibration actuator shown in FIGS. 4A to 4D, a single vibration member 300 is formed by joining acylindrical elastic member 301 to a disk-like elastic member 302. The elastic member 301 incorporates a permanent magnet (not shown) to always attract a movable member 306 (the movable member 2 in FIG. 1) made of a magnetic material so as to obtain a pressing force. Four piezoelectric elements (polarized regions) 303a to 303d serving as electro-mechanicalenergy converting elements are arranged on the surface of the elastic member 302. By selectively supplying alternating signals to the piezoelectric elements 303a to 303d, the elastic member 301 serving as a driving portion can be displayed in the x-axis direction, y-axis direction, or z-axis direction, as shown in FIGS. 4B to 4D. When the movable member 306 is to be rotated about the x-axis, a displacement in the y-axis direction (FIG. 4C) and a displacement in the z-axisdirection (FIG. 4D), may be provided with, for example, a phase difference of 90#xb0;. When the movable member 306 is to be rotated about the y-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the z-axis direction (FIG. 4D) may be provided with, for example, a phase difference of 90#xb0;. When the movable member 306 is to be rotated about the z-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the y-axis direction (FIG. 4C) may be provided with, for example, a phase difference of 90#xb0;. Alternating signals are supplied to the piezoelectric elements 303a to 303d in the same manner as in the form shown in FIGS. 3A to 3D. Alternatively, a plate-like vibration member like the one disclosed in Japanese Patent Laid-Open No. 2002-272147 may be used. FIG. 5 shows this vibration member. In this case, contact projections PC1 to PC4 are integrally formed at almost the middle portions of the four sides of a plate-like vibration member 402. A projection PG having a magnet 405 for attracting a movable member (the movable member 2 in FIG. 1) is formed at a central portion of the vibration member, and projections PE1 to PE4 are formedat the four corners of the vibration member. A vibration element 401 is formed by bonding/fixing a piezoelectric element 403 to the vibration member 302. The piezoelectric element 403 is driven to excite three different natural vibration modes in the vibration element 401. Combining thesemodes makes it possible to realize multiple degree-of-freedomdriving, e.g., rotation about three orthogonal axes and rotation in two directions and about one axis. Referring to FIG. 1, the micro-hand 3 serving as an end-effector is placed in the center of the spherical movable member 2. However, the present invention is not limited to this. For example, the micro-hand 3 may be replaced with a micro-tool which cuts a manipulation target object or forms a hole in the object. Second Embodiment FIG. 6 is a view for explaining the second embodiment of the present invention. Since reference numerals 1 to 5, 7, 20, and 22 in FIG.1 denote the same parts as in FIG. 6, a description thereof will be omitted. Reference numerals 6-1 and 6-2 denote microscopes formagnifying observation. In this embodiment, more visual information is acquired by using two microscopes placed at upper and lower positions, thereby improving operability. The two microscopes may have the same magnification power. However, decreasing the magnification of the lower microscope 6-1 to allow observation with a wide visual field will allow both observation with a low magnification and a wide visual field and observation with a high magnification and a narrow visual field. Reference numerals 8-1 and 8-2 denote optical sensors, which detectrelative position changes of vibration elements 20 and movable member 2.A technique like that disclosed in Japanese Patent Laid-Open No. 10-65882 can be used. The sensors 8-1 and 8-2 are identical sensors. The rotation axis and rotational speed of the movable member 2 can be obtained from movement information at two positions on the spherical surface. The sensors 8-1 and 8-2 are not limited to this system as long as they are two-dimensional position sensors. Although an example of a non-contact optical system is shown in FIG. 6, for example, a ball mouse system maybe used, in which the rotation of balls in contact with the movable member 2 are separately detected as rotation components around two axes in two directions. The sensors 8-1 and 8-2 are mounted on a base 10 with a fixed frame 9. The vibration elements 20 are mounted on the fixed frame 9 with arm portions 1#x2013;2#x2032; radially extending from an electrode plate portion for a piezoelectric ceramic1#x2013;2#x2032;. Other points are the same as those in the first embodiment. FIG. 7 shows a modification in which the axis of themultiple degree-of-freedom vibration actuator is tilted. For example, the structure shown in FIG. 7 is effective for a case wherein two micro-hands 3 are used. The multiple degree-of-freedom vibration actuator may be located in any direction as long as the microscope 6 and stage 5 do not interfere with each other even if the spherical shell of the movable member 2 rotates in various directions. However, a wider movable range of the movable member 2 can be ensured by matching the optical axis of the microscope 6 with the axis of the multiple degree-of-freedomvibration actuator as shown in FIGS. 1 and 6. Third Embodiment FIG. 8 is a view for explaining the third embodiment. In this system, the rotating axes, each having one degree of freedom, are made to cross at one point, and the center of an end-effector is located near the intersection. Each axis is driven and controlled by a general rotary motor. However, an ultrasonic motor, electrostatic motor, or the like may be used. A system can be formed by using a general rotary encoder as a sensor which feeds back position information and velocity information. FIG. 8 shows only a mechanism which controls the posture of a micro-hand 3. Although an X-Y-Z stage 5 and microscope 6 are arranged in the same manner as in the above embodiments, an illustration thereof is omitted in FIG. 8. Reference numeral 11 denotes a general rotary motor, which incorporates a position sensor such as an encoder. The rotary motor 11 is fixed to a fixed frame 9 along the z-axis which is the optical axis of the microscope 6 (not shown). An arm 15 is mounted on a rotating shaft 14. A rotary motor 12 similar to the rotary motor 11 is mounted on the distal end of the arm 15. An axis Z of the rotary motor 11is perpendicular to an axis Y of the rotary motor 12. An arm 17 is also mounted on a rotating shaft 16 of the rotary motor 12. A similar rotary motor 13 is also mounted on the distal end of the arm 17. The axis Y of the rotary motor 12 is perpendicular to an axis X of therotary motor 13. The micro-hand 3 is mounted on the distal end of a rotating shaft 18 of the rotary motor 13. The rotating shafts of the rotary motors 11, 12, and 13 pass through the distal end portion of the。

body dynamic and yields the input current vector of the servovalve, the dynamic gravity term including the gravity of platform, load and hydraulic cylinders is used to compensate the influence of gravity of parallel manipulator platform. 入电流矢量的伺服阀，动态重力项包括重力平台，负载和液压缸，用于补偿重力的影响，对并联机器人平台。

In analytical, the steady state errors converge asymptotically to zero, independent of load variation. 在分析，稳态误差渐近收敛于零，独立的负载变化。

The model-based controller, PD control with gravity compensation, is developed to reduce the effect of load variety of platform and eliminate steady state error of hydraulic driven parallel manipulator. 基于模型的控制器，控制重力补偿，以减少开发影响负载多种平台和消除稳态误差的液压驱动并联机器人。

MATHEMATICAL MODEL 数学模型The 6-DOF hydraulic driven parallel manipulator consist of a fixed base (down platform) and a moveable platform (upper platform) with six cylinders supporting it, all the cylinders are connected with movement platform and base with Hooke joints, as shown in Fig.1. 六自由度液压驱动并联机器人包括一个固定基地（下）和一个可移动的平台（平台）六缸支持它，所有气缸的运动平台和基地连接万向接头，如图1所示。

中英文对照外文翻译文献(文档含英文原文和中文翻译)Hand Column Type Power MachineFollow 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 CNC machining center, it is in reducing labor intensity,while greatly improved labor productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.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. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range is wide "program control general manipulator", hereinafter referred to as general manipulator. General manipulator used to quickly change the workingprocedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.NO.1 The composition of the manipulatorManipulator is in the form of a variety of, some relatively simple, some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device.The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move.The driving system movement of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.The control system of manipulator control system main function is to control the manipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can realize dynamic transmission system, the executing agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control. NO.2 Classification and characteristics of the manipulator Robots generally fall into three categories the first is general manipulator doesn't need manual operation. It is a kind of independence is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery, memory, intelligence of three yuan. Thesecond is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind is to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called "the Mechanical Hand", it is in the service of the host, driven by the host; Except a few working procedures generally is fixed, so it is special.NO.3 The application of industrial manipulatorManipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation.Manipulator although it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been brought to the attention of the many departments, and have been applied more and more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools.(2) Widely used in the assembly operation, it can be used to assemble printed circuit board in the electronics industry, it can be in the machinery industry to assemble parts.(3)Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and biomedical research and test.Application of robots can replace people in dull, repetitive or heavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United States in the nuclear experiments, firstly adopts manipulator handling radioactive materials, people in the security room to manipulate manipulator for various operation and experiment. After the '50 s, robots gradually extended to industrial production department, for use in high temperature, serious pollution of local leave work pieces and the loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing center in the application, complete the material up and down or from libraries take put the knives and replace tool operations such as fixed procedure. Manipulator is mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can be achieved independently of scaling, rotation and lifting movement, generally speaking, there are 2 ~ 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc.Manipulator is used in the production process automation with grab and move the workpiece is a kind of automatic device, it is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work, reduce human labor intensity and improve labor productivity. Manipulator have been applied more and more widely, it can be used forparts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNC machine, combination machine tools more common use. At present, the manipulator has developed into a flexible manufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for medium and small batch production, can save a large workpiece delivery device, structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve product quality, better adapt to the needs of the market competition. But at present our country's industrial robot technology and its engineering application level and foreign than there is a certain distance, scale and industrialization level is low, research and development of the manipulator has direct influence on raising the automation level of production in our country, from the consideration on the economic and technology is very necessary. Therefore, carries on the research design of the manipulator is very meaningful.NO.4 The development trend of manipulatorCurrent industrial applications of the manipulator gradually expanding, constantly improve the technology performance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:1.To expand the application of manipulator and processing industryAt present domestic robots used in mechanical industry more in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental temperature, bring many difficulties to manipulator design, manufacture, it is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in otherindustries and industrial sectors, also will with the constant improvement of the industrial technology level, and gradually expand the use of the manipulator2.Improve the work performance of the industry manipulatorManipulator in the working performance of the pros and cons, determines the application and production, it can normal manipulator working performance of the repetitive positioning accuracy and speed of work two indicators, decided to ensure the quality of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulator's request, besides from solve buffer localization measures, should also be development meet the requirements of mechanical properties and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand.3.Development of modular robotsVariable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, equipment updates, many varieties, small batch, but its cost is high, the special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request of the application field of classify, the structure of the manipulator can be designed to the form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adaptive control part, namely the manipulator with special requirements can be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series design and organization of standardization, specialized production, to improve quality and reduce cost of the manipulator, is a kind of promising manipulator4. Has a "vision" and "touch" of so-called "intelligent robots"For artificial has flexible operation and the need for judgment of the situation, industrial manipulator is very difficult to replace human labor. Such as in the working process of the accident, disorders and conditions change, etc., manipulator cannot be automatically distinguish correct, but to stop, after waiting for people to rule outaccident can continue to work. As a result, people puts forward higher requirements on mechanical hand, hope to make it a "vision", "touch", etc, make it to the judgment, the choice of object, can be continuously adjusted to adapt to changing conditions, and can perform a "hand - eye coordination. This requires a computer can handle a lot of information, require them to exchange of information with machine "dialogue".This "vision", "touch" feedback, controlled by computer, is one part of the "smart" mechanism is called "intelligent robots". Is the so-called "smart" includes: the function of recognition, learning, memory, analysis, judgment. And recognition is through the "visual", "touch" and "hearing" feel "organ" of cognitive object.Which has the function of sensory robot, its performance is perfect, can accurately clamping arbitrary azimuth objects, determine an object, weight, work over obstacles, the clamping force is measured automatically, and can automatically adjust, suitable for engaged in the operation of the complex, precision, such as assembly operation, it has a certain development prospects.Intelligent robots is an emerging technology, the study of it will involve the electronic technology, control theory, communication technology, television technology, spatial structure and bionic mechanical discipline. It is an emerging field of modern automatic control technology. With the development of science and intelligent robots will replace people to do more work.工业机械手随着我国工业生产的飞跃发展，自动化程度的迅速提高，实现工件的装卸、转向、输送或是操持焊枪、喷枪、扳手等工具进行加工、装配等作业的自动化，应越来越引起人们的重视。

1 英文文献翻译1.1 Cherry-harvesting robot1.1.1 IntroductionIn Japan, cherries are harvested carefully by human labor. As the harvesting season is short, the harvesting work is concentrated in a short time period and labor shortage tends to limit the farm acreage. Moreover, cherry trees are tall, and so the harvesting work must be conducted using pairs of steps. This makes harvesting dangerous and inefficient. To save on labor, a cherry-harvesting robot was manufactured for trial purposes and initial experiments were conducted. Research on fruit-harvesting robots has already been conducted (Kawamura etal., 1984; Harrell et al., 1990; Fujiura et al., 1990; Hanten et al.,2002). Many of the fruit-harvesting robots previously reported are equipped with a video camera. Fruit images are distinguished from the background by the difference in color or the spectral reflectance. The 3-D location of the fruit was calculated using binocular stereo-vision (Kawamura et al., 1985)or by visual feedback control (Kondo and Endo, 1989). Applications of a 3-D vision sensor have also been reported (Subrata etal., 1996; Gao et al., 1997). The 3-D vision sensor has the advantage that each pixel of the image has distance information.Making use of this advantage, the object can be recognized by the 3-D shape. As for the cherry-harvesting work, it is necessary to harvest the fruit while avoiding collisions with obstacles such as leaves and stems. To obtain a successful harvesting motion, detection of obstacles as well as the red ripe fruit is required. To achieve this, a 3-D vision system that has two laser diodes was manufactured. One of them emits a red beam and the other an infrared beam. To prevent the influence of the sunlight, position sensitive devices (PSDs) were used todetect the r eflected light. By blinking the laser beams at a high frequency, the signal components of the laser from PSDs were distinguished from that of the sunlight. The 3-D shape of the object was measured by scanning the laser beams and the red fruits were distinguished from other objects by the different cein the spectral-reflection characteristics between the red andinfrared laser beams. The robot needs to harvest correctly and efficiently without damaging the fruits and branches under the environment (temperature, sunshine, etc.) of the orchard. Many cherry trees are cultivated in rain-cover vinyl tents to protect against rain. A robot that works in the tent is not exposed to wind and rain. Cherry fruit, both for the fresh market and for processing, must be harvested with its peduncle.In the case of manual harvesting, therefore, farmers grip the upper part of the peduncle with their fingers, and lift it upward to detach it from the tree. For the same reason, the robot manufactured for the experiment also gripped the upper part of the peduncle just like farmers and lifted it upward to detach the peduncle from the tree.1.1.2 Materials and methodsThe robot consists of a manipulator 4 degrees of freedom (DOF), a 3-D vision sensor, an end effector, a computer, and a traveling device (Fig. 2). It is about 1.2m high, 2.3m wide, and 1.2m long. The 3-D vision sensor is attached to the manipulator to scan from different viewpoints by the motion of the manipulator. A vacuum is used to suck the fruit into the sucking pipe of the end effector.Cherry trees cultivated by the method of single trunk training distribute their fruits around the main trunk. In order to harvest a fruit while avoiding obstacles, such as leaves and trunks, the end effector needs to approach the fruit from the outside of the trunk. For this reason, in this study, we manufactured an articulated manipulator with an axis of up-down traverse and three axes of right-left turning, so that the fruits could be harvested in any direction (Fig. 2). The up-down traverse requires comparatively large force caused by the gravity. Therefore, it is driven by an AC servomotor (Yaskawa Electric, SGMAH-01BAA2C, rated power 100W, rated torque 0.318Nm, rated speed 3000min−1) and a screw mechanism (lead 10mm). Three axes of the right–left turning do not require large torque. Axes of the first and second right–left turning are driven by small AC servomotors (Yaskawa Electric, SGMAH-A5BAA21, rated power 50W, rated torque 0.159N m,rated speed 3000min−1) and harmonic reduction gears (reduction gear ratio100). The remaining axis of right–left turning is driven by a small DC motor with reduction gears. The manipulator is designed to be able to move round the circumference of the tree trunk so that notonly fruits on the front side of the trunk but also the fruits on the other side of the trunk could be harvested.Since the fruits are located around the tree trunk, if the vision sensor scans from one viewpoint, fruits beyond the trunk are hidden. To scan from different viewpoints, the 3-D vision sensor was attached to the second arm. The movement of the manipulator changed the location and directionof the 3-D vision sensor so that the dead angle becomes small.The 3-D vision sensor is equipped with a light projector, a photo detector, and a scanning device (Fig. 3). The light projector consists of an infrared laser module, a red laser module, cold mirrors, a half mirror, and two full-reflecting mirrors. The photo detector consists of two PSDs, a lens, and a red optical filter that weakens the influence of su nlight. The scanning device consists of a galvanometer scanner and a stepping motor. The galvanometer scanner scans vertically and the stepping motor scans horizontally. Red and infrared laser beams are united in the same optical axis by a cold mirror that transmits infrared light and reflects visible right. The beam is further split into two beams (each still including both wavelengths) by a half mirror. These two beams scan the object simultaneously. Light of the two beams reflected from the object is focused onto two PSDs. The distance from the 3-D vision sensor to the object is calculated by a triangulation method using the ratio of the currents of both electrodes of the PSDs. The laser beams emit blinking signals in order to eliminate the influence of sunl ight.By this method, reflected light is separated from the sunlight, thus resulting in continuous light. Infrared light with wavelengths about 700–1000 nm is reflected well by all parts of the cherry tree. On the other hand, red light at about 690 nm is n ot reflected well by unripe fruit, leaves, and stalks, but is reflected well by red ripe fruit. In this study, an infrared light beam of830 nm and a red light beam of 690 nm were used. The infrared laser beam (830 nm) measures the distance to each part of the cherry tree from the 3-D vision sensor and the red laser beam(690 nm) detects the red fruit to be harvested.As mentioned above, the laser beam is split into two beams. The 3-D vision sensor scans these two beams simultaneously, and two pixels were measured at once to increase the scanning speed. The number of pixels was 50,000 (250 in the vertical and 200 in the horizontal direction). The scan time was 1.5 s. The field of vision was 43.8◦ in vertical direction and 40.6◦ in horizontal direction. The effective range of the sensor was from170mmto 500mm. If the object was too far from the sensor, the detected light was weakened and the measuring accuracy was not good.The reflected light from these laser beams is detected by two PSDs, one for each beam. The signals from the PSDs include red and infrared components. To acquire the red and infrared signals separately, the red and infrared laser lights were emitted at a blinking frequency of 41.6 kHz with a phase shift of 90◦. Photoelectric currents from PSDs are amplified. Red and infrared signals are detected separately using lock-in amplifiers, which also eliminate the influence of ambient light. The 3-D vision sensor can be used even under sunlight, where the illuminance is 100 klx. A red image and an infraredimage are fed to the computer, and then a range image and segmentation are obtained.The range image is calculated by triangulation using the infrared signals from anode A and B of the PSD. Segmentation is obtained from the ratio between the infrared and red signals. Red fruits were distinguished from other objects such as leaves by the reflectivity of the red laser. However, the trunk as well as the fruits reflect a red laser beam. Therefore, it was distinguished from fruits using other methods. Fruits reflect with specula phenomenon. When they are scanned, the fruit center reflects the laser beam well. How- ever, this phenomenon does not occur at the trunk surface. The center of each fruitwas recognized using this specula phenomenon. When the center of a fruit is visible from the 3-D vision sensor, fruits could be recognized by this method. By processing these images, the location of red fruits and obstacles, such as leaves and trunks, could be recognized.Fig. 4 shows examples of the image. The range image was obtained by the method of triangulation using the infrared signals of the PSD. By processing the infrared, red, and the range images, the object was segmented into red fruits and others. The image in the right side shows the result of segmentation.Cherry fruit must be harvested with its peduncle attached. The tensile strength needed to detach the fruit was measured. The strength between the peduncle and the fruit was about 1N. On the other hand, the strength between the peduncle and the branch was about 2.5N. Therefore, if the fruit was pulled it would detach the peduncle and the fruit because the strength in that area isthe weakest. To harvest the fruit with its peduncle, a special end effector was used. It consisted of a fruit sucking device, an open-close mechanism, a back-and- forth mechanism, and a pair of fingers. It is about 80 mm high, 30 mm wide, and 145 mm long (Fig. 5). The vacuum pressure from the vacuum cleaner sucks the fruit so that the fruit position is fixed at the tip of the pipe. The fin ger can be opened or closed by the rotation of a servomotor attached on the end effector. After the fingers grasp the peduncle, the end effector is lifted up to remove the peduncle from the tree.Fig. 6 shows the motion of the end effector. First, the finger s are opened and retracted by the servomotors. Then, the end effector approaches a fruit and sucks it. After sucking the fruit, the fingers move halfway forward, and close halfway until the clearance between fingers becomes 5mm. In order to enclose only the target fruit, the fingers are equipped with soft rubber components for obstacle exclusion, so that other fruits may not enter between the fingers. It is necessary to grip the peduncle as near as possible to its root . Therefore, after the fingers are closed halfway, they move further forward. Then, they close completely and grasp the peduncle. Finally, the end effector moves upward to detach the peduncle. The end effector moves to the position above a fruit box, and the fingers open and release the fruit.……1.2 樱桃采摘机器人1.2.1 简介在日本，采摘樱桃是一项细致的人工劳动。