Stability of a “manipulator-drill” system with force control and time delay

《语⾔教学流派第⼆版》⾃⼰整理笔记第⼀章A brief history of language teaching第⼆章The nature of approaches and methods前两章很简单，详见前⾯中⽂导读第三章The oral approach and situational language teachingThe oral approach (situational language teaching) is a grammar-based method in whichprinciples of grammatical and lexical gradation are used and new teaching points arepresented and practiced through meaningful situation-based activities.⼀、Background1. Two of the leaders were Harold palmer and A.S.Hornby.2. Vocabulary control3. Grammar control⼆、The Oral Approach and Situational Language TeachingThe main characteristics of the approach were as follows:1. Language teaching begins with the spoken language. Material is taught orally.2. The target language is the language of the classroom.3. New language points are introduced and practiced situationally.4. Vocabulary selection procedures are followed to ensure that an essential general service vocabulary is covered.5. Items of grammar are graded by their complexity.6. Reading and writing are introduced once a sufficient lexical and grammatical basis is established.三、Approach(2).An inductive approach is used to the teaching of grammar(3).The same processed are thought to occur both in child language learning and in second language learning.四、Design(1). Practical command of the four basic skills of language(2). Accuracy in both pronunciation and grammar is regarded as crucial.(3). Automatic control of basic structures and sentence patterns is fundamental.—a list of the basic structures and sentence patternsa drill-based manner to practicing the new sentence patterns(2) Situation: the use of concrete objects, pictures and realia, which together with actions and gestures(3) Practice techniques: guided repetition, substitution activities, pair practiceThreefold: a model、a skillful manipulator、on the lookout for errors(2)Visual aids: consists of wall charts, flashcards, pictures, stick figuresThe teacher is expected to be the master of his textbook.五、ProcedureAim: to move from controlled to freer practice of structures and from oral use of sentenceRevision ( to prepare for new work if necessary)Presentation of new structure or vocabularyOral practice (drilling)Choral imitationIndividual imitationIsolationBuilding up to a new modelElicitationSubstitution drillingQuestion-answer drillingCorrection第四章The Audiolingual MethodIt is a method of foreign or second language teaching which (a) emphasizes the teaching ofspeaking and listening before reading and writing (b) uses dialogues and drills. (c)discourages use of the mother tongue in the classroom (d) often makes use of contrastiveanalysis. The audiolingual method was prominent in the 1950s and 1960s, especially in theUnited States, and has been widely used in many other parts of the world.⼀、BackgroundThe combination of structural linguistic theory, contrastive analysis, aural-oral procedures, and behaviorist psychology led to the Audiolingual Method.情境法与听说法的异同There are many similarities between situational language teaching and audiolingualism.1. The order in which language skills are introduced2. Focus on accuracy through drill and practice in the basic structures3. Sectence patterns of the target languageHowever, situational language teaching was a development of the earlier Direct Method and does not have the strong ties to linguistic and behavioral psychology that characterize audiolingualism. The similarities of the two methods reflect similar views about the nature of language and of language learning, through these views were in fact development from quite different traditions.⼆、Approach1. Foreign language learning is basically a process of mechanical habit formation.2. Language skills are learned more effectively if the items to be learned in the target language are presented in sporken form before they are seen in written form.3. Analogy provides a better foundation for language learning than analysis. Hence the approach to the teaching of grammar is essentially inductive rather than deductive.4.The meaning of word can be learned in a linguistic and cultural context and not in isolation.三、Design、accurate pronunciation, reading comprehension and productionModels the target languageControls the direction and pace of learningTape recorders and audiovisual equipment四、Procedure1、The process of teaching involves extensive oral instruction2、The procedures the teacher should adopt ( Brook)3、In a typical audiolingual lesson the following procedures will be observed:a. Recognition;b. Imitation and repetitionc. Patterns drill:d. Follow-up activities五、The decline of Audiolingualism1、Criticism on two fronts: the theoretical foundations（both in language and language learning）and the practical results fell short of expectation.2、the theoretical attack: Noam Chomsky’s theory of transformational grammar第五章Total Physical ResponseTotal Physical Response is a language learning method based on the coordination of speechand action. This method of learning was developed by James Asher, a professor of psychologyat San Jose State University, California.⼀、Background1、the “trace theory” of memory in psychology2、developmental psychology：child first language acquisition3、humanistic psychology: the role of affective factors4、Comprehension Approach5、a tradition: the use of physical actions to teach a foreign language at an introductory level⼆、Approachstructuralist or grammar-based views of languagedetailed cognitive map (abstractions and nonabstractions)the central role of comprehension in language learningReminiscent of the views of behavioral psychology: a stimulus-response viewLearning hypotheses ( to facilitate or inhibit foreign language learning )According to Asher, the language learning theories are similar to those of other behavioral psychologists. The principals that help elaborate his idea are:1. Second language learning is parallel to first language learning and should reflect the samenaturalistic processes.2. Listening should develop before speaking.3. Once listening comprehension has been developed, speech develops naturally and effortlesslyout of it.4. Adults should use right-brain motor activities, while the left hemisphere watches and learns.三、Designoral proficiency at a beginning levelA sentence-based syllabusA fixed number of items be introduced at a timeImperative drills are the major classroom activity.Role plays：center on everyday situationSlide presentationsA primary role : listener and performerHave little influence over the contentActive and direct roleWell prepared and well organizedTeachers follow the example of parents giving feedbackNo basic text, materials and realia play an increasing role in later learning stages.Student kits that focus on specific situations (supporting materials)四、ProcedureAsher’s account of a course:ReviewNew commandsRole reversalReading and writingConclusion:Total Physical Response has enjoyed some popularity because of its support by those who emphasize the role of comprehension in second language acquisition.第六章The Silent WayIt is a method of foreign-language teaching developed by Gattegno which makes use of gesture,mime, visual aids, wall charts, and in particular Cuisiniere rods (wooden sticks of differentlengths and colors) that the teacher uses to help the students to talk. The method takes itsname from the relative silence of the teacher using these techniques.⼀、BackgroundThe premise of the Silent WayThe learning hypothesesLearning is facilitated if the learner discovers or creates. (discovery learning)Learning is facilitated by accompanying physical objects.Learning is facilitated by problem solving.⼆、ApproachBy the "spirit" of the language Gattegno is referring to the way each language isComposed of phonological and suprasegmentalA structural approachArtificial approachThe self of the learnerLearning to learn三、DesignAn immediate objectives: to provide the learner with a basic practical knowledge of the grammar of the languageLearners exert a strong influence over each other’s learning.To teach, to test, to get out of the wayCreate an environmentThe colored cuisenaire rodsThe vocabulary or word chartsOther materials四、ProcedureA standard formatPractice of the sounds (using the pronunciation charts)Practice of sentence patterns, structure, and vocabulary (using the rods and charts)A sample lessonFidel chartConclusion:The actual practices of the Silent Way are much less revolutionary than might be expected. The innovations derive from the manner in which classroom activities are organized, the indirect role the teacher is required to assume in directing and monitoring learner performance, the responsibility placed upon learners, and the materials used.第七章Community Language Learning社团语⾔学习法It is a method of second and foreign language teaching developed by Charles Curran. CLL is an application of counseling learning(咨询学习法)to second and foreign languageteaching and learning. It uses techniques developed in group counseling to help people withpsychological and emotional problems. The method makes use of group learning in small orlarge groups. Thes e groups are the “Community”. The method places emphasis on thelearners’ personal feelings and their reactions to language learning. Learners say thingswhich they want to talk about, in their native language. The teacher (known as “Counselor”)translat es the learners’ sentences into the foreign language, and the learner then repeats thisto other members of the group.⼀、Background1、Rogerian counseling——Charles A. Curren2、Humanistic techniques：the whole person3、Language alternation⼆、ApproachLanguage as social processThe interactional view of language: interaction between equals, interaction betweenunequalsThe whole-person learning (five stages)Consensual validationS(secure)A(attention and aggression)R(retention and reflection)D(discrimination)the personal commitments三、Designnot defined.Teacher transfers knowledge and proficiency to the learner.Goal: attaining near-native like mastery of the target languageTopic-based courseTeacher’s responsibility：teacher transfers knowledge and proficiency to the learnerGoal: attenting near-native like mastery of the target language.Translation, Group Work, Recording, Transcription, Analysis, Reflection andbecome counselors to other learnersSpecific teacher roles are keyed to the five development stages.providing a safe environmentMaterials may be developed by the teacher as the course develops.the use of teaching machines四、Procedure1、classical CLL and personal interpretations of it2、the description of some typical activities in CLL classed3、 a protocol of what a first day’s CLL class coveredConclusion:Community Language Learning is the most responsive of the methods we have reviewed in terms of its sensitivity to learner communication intent. It places unusual demands on language teachers. Critics of Community Language Learning question many aspects of CLL. Supporters of CLL emphasize the positive benefits of a method that centered on the learner and stresses the humanistic side of language learning.⾃⼰想法：学校英语⾓活动Question for discussion:社团学习法把语⾔学习过程⽐作是咨询过程，你们觉得这个⽐喻合适吗？为什么？第⼋章SuggostopediaSuggestopedia/Lozanov Method (暗⽰法/罗扎诺夫法)It is a method of foreign-language teaching developed by the Bulgarian Lozanov. It makes use of dialogues, situations and translation to present and practise language, and in particular,makes use of music, visual images, and relaxation exercises to make learning morecomfortable and effective.⼀、Background1、Suggestology2、the most conspicuous characteristics of Suggestopedia3、Soviet psychology4、mental states5、the centrality of music and musical rhythm to learning⼆、Approachwhole meaningful textsix principal theoretical components:authority, infantilization, double-planedness, intonation, rhythm, concertpseudo-passivenessthe type of musicthe rate of presentation of material to be learned within the rhythmic pattern三、Designdeliver advanced conversational proficiency quicklytime duration——30 dayseach uniteach unitexpected teacher behaviorsDirect support materials: text and tapeIndirect support materials: classroom fixtures and music四、ProcedureBancroft’s description: a four-hour language class has three distinct parts.The first part: an oral review sectionThe second part: new material is presented and discussedThe third part: the séance or concert sessionConclusion:Suggestopedia has probably received both the most enthusiastic and the most critical response of any of the so-called new methods. It is not productive to further belabor the science/nonscience, date/double-talk issues and instead try to identify and validate those techniques from Suggestopedia that appear effective and that harmonize with other successful techniques in the language teaching inventory.Question for discussion;暗⽰法强调⾳乐的作⽤，那么⾳乐在外语学习过程中究竟起了怎样的作⽤？谈谈你们的看法。

RobotsA robot is an automatically controlled, reprogrammable, multipurpose, mani pulating machine with several reprogrammable axes, which may be either fixed in place or mobile for use in industrial automation applications.The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements.The term”reprogrammabl e” implies two things:The robot operates according to a written program can b e rewritten to accomdate a variety of manufacturing tasks. The term “multipurp ose” means that the robot can perform many different functions, depending on the program and tooling currently in use.Over the past two decades,the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can per form certain basic tasks more quickly and accurately than humans, they are bei ng increasingly used in various manufacturing industries.Structures of RobotsThe typical structure of industrial robots consists of 4 major components: the manipulator, the end effector, the power supply and control syterm.The manipulator is a mechanical unite that provides motions similar to those of a human arm. It often has a shoulder joint,an elbow and a wrist. It can rotate or slide, strech out and withdraw in every possible direction with certain flexibility.The basic mechanical configurations of the robot manipulator are categorized as Cartesian, cylindrical, spherical and articulated.A robot with a Cartesian geometry can move its gripper to any position within the cube or rectangle defined as its working volum.Cylindrical coordinate robots can move the gripper within a volum that is described by a cylinder. The cylindrical coordinate robot is positioned in the work area by two linear movements in the X and Y directions and one angular rotation about the Z axis.Spherical arm geometry robots have an irregular work envelop. This type of robot has two main variants,vertically articulated and horizontally articulated.The end effector attaches itself to the end of the robot wrist, also called end-of-arm tooling.It is the device intended for performing the designed operations as a human hand can.End effectors are generally custom-made to meet special handling requirements. Mechanical grippers are the most commonly used and are equipped with two or more fingers.The selection of an appropriate end effector for a special application depends on such factors as the payload, enviyonment,reliability,and cost.The power supply is the actuator for moving the robot arm, controlling the joints and operating the end effector. The basic type of power sources include electrical,pneumatic, and hydraulic. Each source of energy and each type of motor has its own characteristics, advantages and limitations. An ac-powered motor or dc-powered motor may be used depending on the system design and applications. These motors convert electrical energy into mechanical energy to power the robot.Most new robots use electrical power supply. Pneumatic actuators have been used for high speed. Nonservo robots and are often used for powering tooling such as grippers. Hydraulic actuators have been used for heavier lift systems, typically where accuracy was not also requied.The contro system is the communications and information-processing system that gives commands for the movements of the robot. It is the brain of the robot; it sends signals to the power source to move the robot arm to a specific position and to the end effector.It is also the nerves of the robot; it is reprogrammable to send out sequences of instructions for all movements and actions to be taken by the robot.A open-loop controller is the simplest for of the control system, which controls the robot only by foolowing the predetermined step-by-step instructions.This system dose not have a self-correcting capability.A close-loop control system use feedback sensors to produce signals that reflct the current states of the controed objects. By comparing those feedback signals with the values set by the programmer, the close-loop controller can conduct the robot to move to the precise position and assume the desired attitude, and the end effector can perform with very high accuracy as the close-loop control system can minimize the discrepancy between the controlled object and the predetermined references.Classification of RobotIndustrial robots vary widely in size,shape, number of axes,degrees of freedom, and design configuration. Each factor influence the dimensions of the robot’s working envelop or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as below.Fixed-and Variable-Sequence Robots. The fixed-sequence robot (also called a pick-and place robot) is programmed for a specific sequence of operations. Its movements are form point to point, and the cycle is repeated continuously.The variable-sequence robot can be programmed for a specific sequence of operations but can be programmed to perform another sequence of operation.Playback Robot. An operator leads or walks the playback robot and its end effector through the desired path. The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled Robot. The numerically controlled robot is programmed and operated much like a numerically controlled machine. The robot is servocontrolled by digital data, and its sequence of movements can be changed with relative ease.Intelligent Robot. The intelligent robot is capable of performing some of the functions and tasks carried out by huanbeings.It is equipped with a variety of sensors with visual and tactile capabilities.Robot ApplicationsThe robot is a very special type of productin tool; as a result, the applications in which robots are used are quite broad. These applications can be grouped into three categories: material processing, material handling and assembly.In material processing, robots use tools to process the raw material. For example, the robot tools could include a drill and the robot would be able to perfor drilling operaytions on raw material.Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed relatively and repeatedly with robots, thereby improving quality and scrap losses.Assembly is another large application area for using robotics. An automatic assembly system can incorporate automatic testing, robot automation and mechanical handling for reducing labor costs, increasing output and eliminating manual handling concers.机器人机器人是一种自动控制的、可重复编程的、多功能的、由几个可重复编程的坐标系来操纵机器的装置，它可以被固定在某地，还可以是移动的以在工业自动化工厂中使用。

２０２３年第５２卷第６期第４７页石油矿场机械犗犐犔　犉犐犈犔犇　犈犙犝犐犘犕犈犖犜２０２３，５２（６）：４７ ５３文章编号：１００１ ３４８２（２０２３）０６ ００４７ ０７修井用钻台机械手设计与仿真关春丽（胜利油田胜机石油装备有限公司，山东东营２５７０００）摘要：修井作业过程中，需要对管柱进行大量的起下、排放作业，劳动强度大、安全风险高。

钻台机械手能够实现管柱在操作平台与排放架之间的移送操作，可有效提高作业效率，降低劳动强度，提升修井作业自动化水平，为此研制了一种专门用于修井作业的钻台机械手，并对钻台机械手的结构、主要技术参数、技术特点进行了阐述。

采用静力学分析方法对臂架各构件进行受力分析，验证臂架满足强度理论要求；运用ＡＤＡＭＳ软件对臂架伸展推扶管柱过程进行运动仿真，为钻台机械手臂架轨迹控制及变幅油缸计算选型提供依据，验证了钻台机械手水平推力及推扶半径满足技术参数要求。

修井用钻台机械手的成功研制及推广应用，促进了大修自动化管柱处理系统的发展。

关键词：修井；钻台机械手；静力学分析；运动仿真；ＡＤＡＭＳ中图分类号：ＴＥ９３５ 文献标识码：Ａ 犱狅犻：１０．３９６９／ｊ．ｉｓｓｎ．１００１ ３４８２．２０２３．０６．００６犇犲狊犻犵狀犪狀犱犛犻犿狌犾犪狋犻狅狀狅犳犇狉犻犾犾犉犾狅狅狉犕犪狀犻狆狌犾犪狋狅狉犳狅狉犠狅狉犽狅狏犲狉犗狆犲狉犪狋犻狅狀ＧＵＡＮＣｈｕｎｌｉ（犛犺犲狀犵犾犻犗犻犾犳犻犲犾犱犛犺犲狀犵犼犻犗犻犾犈狇狌犻狆犿犲狀狋犆狅．，犔狋犱．，犇狅狀犵狔犻狀犵２５７０００，犆犺犻狀犪）犃犫狊狋狉犪犮狋：Ｉｎｔｈｅｐｒｏｃｅｓｓｏｆｗｏｒｋｏｖｅｒｏｐｅｒａｔｉｏｎ，ｉｔｉｓｎｅｃｅｓｓａｒｙｔｏｃａｒｒｙｏｕｔａｌｏｔｏｆｔｒｉｐｐｉｎｇａｎｄｄｉｓｃｈａｒｇｉｎｇｏｐｅｒａｔｉｏｎｓｏｎｔｈｅｐｉｐｅｓｔｒｉｎｇ，ｗｈｉｃｈｈａｓｈｉｇｈｌａｂｏｒｉｎｔｅｎｓｉｔｙａｎｄｈｉｇｈｓａｆｅｔｙｒｉｓｋ．Ｔｈｅｄｒｉｌｌｆｌｏｏｒｍａｎｉｐｕｌａｔｏｒｃａｎｒｅａｌｉｚｅｔｈｅｔｒａｎｓｆｅｒｏｐｅｒａｔｉｏｎｏｆｔｈｅｐｉｐｅｓｔｒｉｎｇｂｅｔｗｅｅｎｔｈｅｏｐｅｒ ａｔｉｎｇｐｌａｔｆｏｒｍａｎｄｔｈｅｄｉｓｃｈａｒｇｅｒａｃｋ，ｗｈｉｃｈｃａｎｅｆｆｅｃｔｉｖｅｌｙｉｍｐｒｏｖｅｔｈｅｏｐｅｒａｔｉｏｎｅｆｆｉｃｉｅｎｃｙ，ｒｅｄｕｃｅｌａｂｏｒｉｎｔｅｎｓｉｔｙ，ａｎｄｉｍｐｒｏｖｅｔｈｅａｕｔｏｍａｔｉｏｎｌｅｖｅｌｏｆｗｏｒｋｏｖｅｒｏｐｅｒａｔｉｏｎ．Ａｄｒｉｌｌｆｌｏｏｒｍａ ｎｉｐｕｌａｔｏｒｓｐｅｃｉａｌｌｙｕｓｅｄｉｎｗｅｌｌｗｏｒｋｏｖｅｒｏｐｅｒａｔｉｏｎｗａｓｄｅｖｅｌｏｐｅｄ．Ｔｈｅｓｔｒｕｃｔｕｒｅ，ｍａｉｎｔｅｃｈｎｉｃａｌｐａｒａｍｅｔｅｒｓ，ａｎｄｔｅｃｈｎｉｃａｌｃｈａｒａｃｔｅｒｉｓｔｉｃｓｏｆｔｈｅｄｒｉｌｌｆｌｏｏｒｍａｎｉｐｕｌａｔｏｒｗｅｒｅｄｅｓｃｒｉｂｅｄ．Ｔｈｅｓｔａｔｉｃａｎａｌｙｓｉｓｍｅｔｈｏｄｗａｓｕｓｅｄｔｏａｎａｌｙｚｅｔｈｅｆｏｒｃｅｏｆｅａｃｈｍｅｍｂｅｒｏｆｔｈｅｂｏｏｍ，ｖｅｒｉｆｙｉｎｇｔｈａｔｔｈｅｂｏｏｍｍｅｔｔｈｅｓｔｒｅｎｇｔｈｔｈｅｏｒｙｒｅｑｕｉｒｅｍｅｎｔｓ．ＡＤＡＭＳｓｏｆｔｗａｒｅｗａｓｕｓｅｄｔｏｓｉｍｕｌａｔｅｔｈｅｐｒｏｃｅｓｓｏｆｅｘｔｅｎｄｉｎｇａｎｄｐｕｓｈｉｎｇｔｈｅｐｉｐｅｓｔｒｉｎｇ，ｐｒｏｖｉｄｉｎｇａｂａｓｉｓｆｏｒｃｏｎｔｒｏｌｌｉｎｇｔｈｅｂｏｏｍｐａｔｈａｎｄｃａｌ ｃｕｌａｔｉｎｇａｎｄｓｅｌｅｃｔｉｎｇｔｈｅｖａｒｉａｂｌｅａｍｐｌｉｔｕｄｅｃｙｌｉｎｄｅｒ，ａｓｗｅｌｌａｓｖｅｒｉｆｙｉｎｇｔｈａｔｔｈｅｈｏｒｉｚｏｎｔａｌｔｈｒｕｓｔａｎｄｐｕｓｈｉｎｇｒａｄｉｕｓｏｆｔｈｅｍａｎｉｐｕｌａｔｏｒｍｅｔｔｈｅｒｅｑｕｉｒｅｍｅｎｔｓｏｆｔｈｅｔｅｃｈｎｉｃａｌｐａｒａｍｅｔｅｒｓ．Ｔｈｅｓｕｃｃｅｓｓｆｕｌｄｅｖｅｌｏｐｍｅｎｔａｎｄｐｏｐｕｌａｒｉｚａｔｉｏｎｏｆｄｒｉｌｌｆｌｏｏｒｍａｎｉｐｕｌａｔｏｒｓｆｏｒｗｏｒｋｏｖｅｒｈａｖｅｐｒｏ ｍｏｔｅｄｔｈｅｄｅｖｅｌｏｐｍｅｎｔｏｆａｎａｕｔｏｍａｔｉｃｗｏｒｋｏｖｅｒｓｔｒｉｎｇｈａｎｄｌｉｎｇｓｙｓｔｅｍ．犓犲狔狑狅狉犱狊：ｗｏｒｋｏｖｅｒ；ｄｒｉｌｌｆｌｏｏｒｍａｎｉｐｕｌａｔｏｒ；ｓｔａｔｉｃａｎａｌｙｓｉｓ；ｍｏｔｉｏｎｓｉｍｕｌａｔｉｏｎ；ＡＤＡＭＳ 近年来，随着修井作业装备应用技术的不断发展，油田对修井作业提速提效、降低人工成本、减轻 收稿日期：２０２３ ０６ ０８　基金项目：中国石油化工股份有限公司科研项目“大修自动化作业及一体化全电驱修井技术装备研制”（ＳＩＮＯＰＥＣ２０２０制２０２００６０３）。

metal金属nonferrous非铁金属，有色金属ferrous黑色金属copper铜aluminum 铝strength强度hardness硬度corrode腐蚀foundry 铸造、铸造厂casting铸件、铸造pig iron 生铁drop forging 落锤锻tolerance公差furnace炉子pyrometer 高温计solder焊料weld焊接electrode 电极anneal退火Melting point熔点grinding 磨削加工tempering 回火quench 淬火、熄灭modulus 系数，模elasticity弹性elastic 弹性的mesh 啮合worm蜗杆spur gear直齿圆柱齿轮helical gear斜齿圆柱齿轮straight bevel 直齿锥齿轮worm gear 涡轮lubricant润滑剂pitch螺距lead 导程torque 扭矩rack齿条left hand threads左螺纹right hand threads 右螺纹cam凸轮follower 从动件pulley 滑轮belt 皮带critical 临界点woodruff key 半圆键cantilever 悬臂tepered key 锥形键washer 垫圈spring 弹簧screw 螺钉bolt螺栓coupling 联轴器nut 螺母chain 链条bearing 轴承rigid刚性的intensity [强度flexibility挠性inertia惯性tolerance公差pin-joint 铰接hinge 铰链brake制动器lathe 车床thread 螺纹drilling钻削boring 镗削milling铣削turning 切削friction 摩擦力chip 屑片external grinder 外圆磨床die 模具internal grinder 内圆磨床finish粗糙度surface grinder 平面磨床centerless grinder 无心磨床cutter grinder工具磨床wear 磨损refinement精加工roughing operations 粗加工twist drill麻花钻twist drill麻花钻trail 踪迹, 痕迹, 形迹jack 提高robotics机器人技术manipulator 操作者, 操纵者, 机械手binary二进位的, 二元的swarf金属屑rake angle前角rolling contact bearing滚动轴承sliding contact bearing滑动轴承angular contact bearing角接触轴承Read-only memory 只读存储器Hard automation刚性自动化Random access memory 随机存储Geometric modeling几何造型Engineering analysis工程分析Kinematics运动学Automatic drawing自动绘图numerical control数字控制factory Management工程管理Computer Numerical Control计算机数控Direct numerical control 直接数控User interface用户接口Knowledge base知识库（1）.cad，cam全称，功能Cad：Computer-aided design1. Geometric modeling 几何造型2. Engineering analysis 工程分析3. Kinematics运动学 4. Automated drafting 自动绘图Cam：computer-aided manufacturing1. Numerical control 数字控制2. Process planning 工艺加工过程 3. Robotics 机器人技术 4. Factory management 工厂管理（2）齿轮的种类：1.spur gear2.helical gear3.straight bevel（3）铸造工艺包括那几步：1. making molds2.preparing and melting the metal3. pouring the metal into the molds4. cleaning the castings.（4）列举几种常用的机械零部件：Gear key shafe screw bolt bearing（5）皮带传动是否精确为什么？not precise Belt depend on friction on the pulleys and some slippage is inherent in their operation.（6）道具磨损类型有哪些：1. Flank wear2. crater wear3.notch wear（7）钢的力学性能：(1) Strength 强度(in tension张力, compression压力, shear 剪切力and bending弯曲力) (2) Stiffness刚性(3)Ductility延展性(4) Impact strength 冲击强(5) Hardness硬度(6) Toughness韧性句子翻译1对于深沟球轴承沟槽的深度大约是球直径的1/4In deep-groove ball bearings, the races are approximately one fourth as deep as the ball diameter. 2.把金属件····焊接强度来决定There are a number of methods of joining metal articles together, depending on the type of metal and the strengthof the joint which is required.3.软钎焊·······的工艺Soldering is the process of joining two metals by a third metal to be applied in the molten state.4.力学性能是什么Mechanical properties are the characteristic responses of a material to applied forces.5.用于冷加工的机器叫做压力机The machine used for most cold-working operations is known as a press.6.切削刀具····The cutting tool must be made of an appropriate material; it must be strong, tough, hard, and wear resistant.7.铸造工艺···Foundry processes consist of making molds, preparing and melting the metal, pouring the metal into the molds, and cleaning the castings.。