机械手外文翻译

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密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Simple Manipulator And The Control Of It 译文标题简易机械手及控制作者所在系别机械工程系作者所在专业xxxxx作者所在班级xxxxxxxx作者姓名xxxx作者学号xxxxxx指导教师姓名xxxxxx指导教师职称副教授完成时间2012 年02 月北华航天工业学院教务处制译文标题简易机械手及控制原文标题 Simple Manipulator And The Control Of It作者机电之家译名JDZJ国籍中国原文出处机电之家中文译文：简易机械手及控制随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。

由于微电子技术和计算软、硬件技术的迅猛发展和现代控制理论的不断完善,使机械手技术快速发展,其中气动机械手系统由于其介质来源简便以及不污染环境、组件价格低廉、维修方便和系统安全可靠等特点,已渗透到工业领域的各个部门,在工业发展中占有重要地位。

本文讲述的气动机械手有气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。

主要作用是完成机械部件的搬运工作,能放置在各种不同的生产线或物流流水线中,使零件搬运、货物运输更快捷、便利。

一.四轴联动简易机械手的结构及动作过程机械手结构如下图1所示,有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。

图1.机械手结构其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点);(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关);(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成);(4)旋转基座主要支撑以上3部分;(5)气控机械手的张合由气压控制(充气时机械手抓紧,放气时机械手松开)。

机械手翻译

机械手翻译集团标准化小组：[VVOPPT-JOPP28-JPPTL98-LOPPNN]Industrial Robots1.Manipulator overview of RobotsIt is the ancient robot in early appearance and developed on the basis of research into the middle of the twentieth century manipulator, alongwith the computer and automation technology development, especially thefirst digital electronic computer in 1946, since the advent of computer made amazing progress, to high speed, high capacity, low price direction. Meanwhile, the urgent demand of mass production of promoting automation technology progress, and for the development of robots laid a foundation. On the other hand, nuclear technology research requires certain operating machine instead of people handle the radioactive substances. In this one requirement background, the United States is developed in 1947, in 1948and remote control robot developed mechanical master-slave manipulator.From the United States began developing manipulators first. In 1954the United States first suggested the wear wal-mart, and the concept of industrial robot applied for patent. This patent point is using servo technology control of the robot joints, using an action on the robot hands, the robot can realize. Teaching movement recording and playback. This isthe so-called demonstration emersion robot. The existing robots are using this kind of control mode. 1958 united control company developed the first manipulator riveting robot. As the earliest practical model robot products (demonstration reappearance) is 1962 U.S. AMF company launched "VERSTRAN" and UNIMATION company launched "UNIMATE". These industrial robot mainly by similar man's hands and arms who composed it can replace the hard labor in order to achieve production mechanization and automation, can in harmful environment operation to protect the personal safety and thus widely usedin mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.Industrial robot CaoZuoJi (by mechanical body), controller, servodrive system and detection sensor, making it a humanoid operation, automatic control, can repeat programming, can finish all kinds of assignments in 3d space the electromechanical integration automation production equipment. Particularly suitable for many varieties, change of flexible production batch. It to help stabilize, improve product quality, raise efficiency in production, improve working conditions and productrapid renewal plays an extremely important role.Robotic technology is integrated with computer, cybernetics, organization learning, information and sensing technology, artificial intelligence, bionics science and the formation of high technology and new technology, is a very active, contemporary study applied more and morewidely. Robot applications, is a national industrial automation level of important symbol.Robot and not in the simple sense of labor, but replace artificial comprehensive people skills and machine a personification of the specialty of electronic machinery, already someone on the environment condition of rapid reaction and the analysis judgment ability, and a machine could be longer duration of work, high precision and the ability of resistance to bad environment, in a sense it is also machine process of evolution product, it is an important industrial and the industry production and service, but also set the advanced manufacturing technology field indispensable automation equipment.Manipulator is part of the action imitating the hands, according tothe given program, track and demanding acquirement, handling or operationof the automatic mechanical device. In the industrial production of the application of industrial robots called "robot". Application ofmanipulator can be used to increase production level of automation production and labor productivity: can reduce labor intensity, assure product quality, achieve safety production; Especially in high temperature, high pressure, low temperature, low pressure and dust, explosive, toxic gases and radiation etc harsh environment, it instead of human normal work, meaning more significant. Therefore, in the mechanical processing, stamping, casting, forging, welding, heat treatment, electroplating, paint, assembly and light industry, transportation etc widely quoted are increasingly.The structure of the manipulator is simpler, specificity form began, strong for a machine tool's only feeder, and was attached to the machine's special manipulator. Along with the development of industrial technology, made by an independent program control realization repeated operation, suitable scope is wider "program control general manipulator", or general manipulator. Due to the change of general manipulator can quickly working procedures, good adaptability, so it continues to transform the medium and small batch production products gain extensive reference .posed of the manipulator1)ActuatorsHandNamely parts in contact with objects. Due to the different forms of contact with objects, can be divided into clamping type and adsorption the hands. Gripping type hand fingers (or by PAWS) and power transmission institution constitutes. Fingers are in direct contact with the object of components, common finger movement forms have moved back to the transformation of peace. Back to the transformation of simple structure,easy fingers, so application component manufacturing is widely applied translation type, its reason is less complicated structure, but translations type circular parts, fingers clamping workpiece diameter variation do not affect its axis position, therefore appropriate clamping diameter variation range workpiece.Finger structure by grasping object depends on surface shape, caught parts (the profile or within hole) and object weight and dimensions. Common refers to a flat, form the v-shaped finger and surface: the clip type and inside there supporting type; Index has double refers to type, by type and hands of double refers to type, etc.But the force transmission institution is produced by clamping force fingers to accomplish the task. Put objects clips Power transmission institutions are: the more commonly used type sliding channel, connecting lever lever type, bevel gear lever type, type, screw nut upper-and-lower, type spring type and gravity type, etc.Enclosed type hand made mainly by chuck, it is to rely on adsorption force (such as chuck formed in the negative pressure or an electric suction magnetic) adsorption objects, the corresponding adsorption hand have negative pressure and electric disk two kinds of suckers.For light small flake parts, smooth plate materials, usually with negative pressure chuch suck material. The way cause negative pressure air suction and vacuum pump type.To guide magnetic ring type and the plate with a hole, and have such parts of sheet etc (meshes, usually use electro-magnetic chuck suck material. The suction electro magnetic chuch by dc magnets and production. Communication electromagnet.With negative pressure chuch and electro magnetic chuch absorb charge, its shape, quantity, suckers absorbability size, according to adsorb object shape, size and weight size and decide.In addition, according to special needs, the hand and spoon type (such as casting manipulator poured bag part), Joe type (such as cold gear machine up-down material manipulator hand) type.WristHand and arm is connected components, and can be used to adjust the position by grasping object (i.e. posture).ArmThe arm is supporting caught objects, hand, an important part of the wrist. The arm's role is to drive to grab objects, and fingers predetermined asks its handling to the location specified. Industrial manipulator arm often moving parts by driving arm (such as oil cylinder, cylinders, rack-and pinion institutions, link mechanism, screw mechanismand CAM mechanism, etc.) and drive source (such as hydraulic and pneumatic or motor, etc.), in order to realize the combined arms all kinds of sports.The arm in telescopic or lifting movement, in order to prevent around its axis rotation, need a guide device, to ensure that the finger on the correct direction movement. In addition, orientation device can bear arms were bending moment and torsion moment when turning or arm movement instart-up, brake generated at the moment of inertia, make the moving parts stress state is simple.Orientation device structure form, commonly used are: single cylinder, double cylindrical, four cylinder and v-shaped chamfer, swallow tailtrough etc oriented form.PillarPillar is supporting the arm parts, pillar also can be part of the arm and arm turn movement and lift (or pitch) movement are and pillar are closely linked. Manipulator to usually set for fixed, but need because of the job, sometimes also can make lateral movement, namely called will move a type bar.Walk InstitutionsWhen industrial robots need to complete a remote operation, or expanded use scope, the same seat installation roller, rail, etc, in order to realize the mobile mechanism of the machine movement. Industrial robots Roller type can be divided into the mobile mechanism of sounds and two trolley. Drive roller motion should be additional mechanical transmission device.BaseSeating is basic parts of manipulator, manipulator actuator components and the drive system are installed in on standby, so the role of the support and links.2)Drive systemDrive system is driving industrial robots actuators movement of the power unit, usually by power supply, the control adjusting device and auxiliary device component. The drive system used in hydraulic transmission, pneumatic transmission, power transmission and mechanical transmission etc 4 form..3)Control systemControl system is dominated by the requirements of industrial robots sport system. At present the control system of industrial robots by process control system and general electric positioning (or mechanicalstop pieces positioning) systems. Control system has the electricalcontrol and jet control two kinds, it dominates the manipulator procedures stipulated by the movement, according to people and memory of the manipulator instruction information (such as action sequence, trajectory, movement speed and time), and according to the control system of the information instruction executive agencies and, when necessary, the action of manipulator when motion surveillance, any error or fault alarm signal that..4)Position detection deviceControlling manipulator actuator position and keep movement of actuator actual position feedback to control system, and with setting the position to compare, and then adjusted by controlling system, thus make actuators to certain accuracy reached set position.3.Manipulator classificationThere are many kinds of industrial robots, about classification problems, at present in China, not unified classification standard in this temporary by use scope, drive mode and classify control system, etc.1)According to utility centRobots can be divided into special manipulator and general manipulator two:1.special manipulatorIt is attached to the host and have fixed program without independent control system mechanism. Special manipulator with action, less work object single, simple structure and reliable operation and cost low characteristic, suitable for big affiliate, such as automatic machine, automatic line and discharge of robot and 'processing center "the automatic automation production batch cutter replacement manipulator.2. general manipulatorIt is a kind of independent control system, program variable, action flexible manipulator. Through the adjustment may be used in different occasions, driving system and lattice performance range, its actions program is variable, the control system is independent. General manipulator work range, higher precision and versatility, applicable to the production of changing medium and small batch automation production.General manipulator according to the control can be divided into different ways of the positioning of the simple type and servo type two kinds: simple type with "opening and closing" type control positioning, can only be position control: servo type has servo system, can point position control system, also can achieve continuous control path control general servo model gm manipulator belong to nc type.2)According to the driving way points1. hydraulic transmission manipulatorBased on the hydraulic pressure to drive the actuators movement of the manipulator. Its main features are: catch weight of several hundred kg, stable transmission, compact structure, action quick. But for sealingdevice requirements, otherwise the oil leakage strictly to the working performance of the manipulator has a great influence, and not in workunder high temperature, low temperature. If the manipulator by applying electro-hydraulic servo drive system, can achieve continuous trajectory control, make the manipulator, but universal expand electro-hydraulicservo valve manufacturing precision, oil filter, strict cost are high.2. pneumatic theories.supported manipulator based on pressure of compressed air to drive the actuators movement of the manipulator. Itsmain features are: media sources is extremely convenient, output force is small, pneumatic action quick, simple structure, low cost. However, due to the air has compressible characteristics and work rate, the poor stability, and impact low air pressure, catch in commonly 30 kilograms heavy weight below, under the same conditions it caught the structure than hydraulic manipulator, so suitable for high-speed, light load, high temperature and dust big environment to work in.3. mechanical transmission manipulatorNamely the mechanical transmission (such as CAM, connecting rod, gear and rack, intermittent mechanism, etc) driven manipulators. It is a kind special the attached to work host manipulator, its power is passed by working machinery. Its main characteristic is accurate and reliable,action frequency motion, but structure is bigger, action program immutable. It is often used to work and discharge of host.4. power transmission manipulatorNamely, have special structure induction motors, linear motor or power step-motor direct driving actuators movement of the manipulator, becausedo not need the change in the middle, so the mechanical structure simple organization. One of the manipulator, the linear motor speed and longer journeys movement, maintaining and easy to use. Such manipulator is still small, but promising.3)According to the control mode points1. position controlIts movement for space between point-to-point control movement of mobile, only the position of several points in the process, unable to control its trajectory. If you would control points, you must increasemore than the complexity of the electrical control system. Current use of special and general industrial robots are such.2. continuous trajectory controlIts trajectory of any continuous curve for the space, itscharacteristic is set point for unlimited, the whole mobile process undercontrol, can achieve smooth and accurate movement, and use range, but the electrical control system is complicated. This kind of industrial robots generally USES small computer control.4.The application of industrial robots in production andits significanceBecause of its high flexibility and robot in life, manufacturing performance in various fields such as plays a very important role. It can carry goods, sort and products, and can in harmful environment to protect life safety operation, instead of man's heavy labor, so are widely used in machinery manufacturing, light industry and needs goods handling various places.In modern industry, the production process automation has become a prominent theme. The automation level from all walks of life becomes more and more high, modern processing workshop, often with manipulator to improve production efficiency, complete workers difficult to complete or dangerous job. Available in mechanical industry, processing, assemblingand other production largely is not continuous. According to data is introduced, the American production in all industrial parts, 75 percent is small batch production; Metal processing production batch of three-quarters under 50 pieces on the machine parts in real time accounted for only parts processing production time 5%. Here you can see, loading and unloading, handling, carrying the process such as the urgency ofindustrial robots mechanized for realizing these processes is automatedand of generation. At present the finished work of manipulator are often used to have: injection industry from the mold to grab products and fast curing to the next will product production processes; Manipulator processing industry for picking, feeding; Casting industry for high temperature melting extracted liquid etc. Robots in automation workshopfor transporting materials, engaged in welding, painting, assembling process operation, but will operate workers from onerous, drab, repeat liberated the manual labor. Especially in high temperature, dangerous or harmful work environment (radioactive, poisonous gas and dust, inflammable, explosive, strong noise, etc.), usable parts operation instead of manipulator. At present, the manipulator has been widely used in casting, forging, stamping, machining, paint, the assembly and so on various processes.In mechanical industry, the significance of application manipulatorcan be summarized as follows:1. To improve the production process of automationThe robot conducive to the realization of materials used, workpiece loading, unloading and transmit the cutter replacement and machineassembly etc, thus the automation degree can improve labor productivity and reduce production cost.2. To improve working conditions, and avoid personal accidentIn high temperature, high pressure, low temperature, low pressure and dust, noise and smell, or radioactive or have other toxic pollution and working space in the occasion of narrow choose and employ persons is dangerous hands direct operation or impossible, and the use of robots can part or all of the replace man safe working conditions, make homework improves.In some simple, repetitive, especially a heavy operation to replace man, robot can avoid due to negligence operating fatigue or accidents.3. Can relieve human, and facilitate the rhythmic productionInstead of people applied manipulator work, it is the one aspect of the direct reduce manpower, and because the application can be continuous work, robot is to reduce the human and another side. Therefore, the comprehensive processing in automatic machine, automatic line now barely manipulator, to reduce the manpower and the more accurate control production beat, facilitate rhythmic work on production.To sum up, the effective application of mechanical industry development manipulator, is an inevitable trend.。

机械手臂外文翻译

外文出处：《Manufacturing Engineering and Technology—Maching》附件1：外文原文ManipulatorFirst, an overview of industrial manipulatorWith the rapid development of China's industrial production, especially the reform and openingup after the rapid increase in the degree of automation to achieve the workpiece handling, steering,transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic andradioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power:1." Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection)2." Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport.5." The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment:2." As the use of low atmospheric pressure, the output power can notbe too large; in order to increase the output power is bound to the structure of the entire pneumaticsystem size increased.Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, donot pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.1.Implementing agencies2. Transmission3. Control SystemRobots are generally divided into three categories:Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)Four, industrial machinery, application of hand(3) The working conditions may be poor, monotonous, repetive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands:附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

中英文文献翻译-机械手

附录ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial robot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable LogicController PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.1. an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face ahigh turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention.Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce laborintensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug thepipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production.Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline.It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. 2. the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the, Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.2.1 Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed.2.2 TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic andelectric power transmission and other drive several forms.2.3 Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control.3 mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed tooperate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)4 industrial machinery, application of hand Manipulator in the mechanization and automation of the production process developed a new type of device. In recentyears, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industryIt can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on.(5) Universe and ocean development.(6), military engineering and biomedical research and testing. Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot ina safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑support and adsorption type of care. Movement organs are generally hydraulic pneumatic electrical device drivers. Manipulator can be achieved independently retractable ﹑rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization andautomation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piececonveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful.机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

机械手臂外文翻译

外文出处：《Manufacturing Engineering and Technology—Machining》外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial rob ot 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 mac hines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operat ions and a variety of environments the ability to complete the work in the field of national econom y and there are broad prospects for development. With the development of industrial automation, t here has been CNC machining center, it is in reducing labor intensity, while greatly improved labo r productivity. However, the upper and lower common in CNC machining processes material, usua lly still use manual or traditional relay-controlled semi-automatic device. The former time-consum ing 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, fa ult 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 hydrau lic technology, automatic control technology, sensor technology and computer technology and oth er fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object i n order to complete the work in different environments. Low wages in China, plastic products ind ustry, although still a labor-intensive, mechanical hand use has become increasingly popular. Elect ronics and automotive industries that Europe and the United States multinational companies very e arly 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, beca use they have to face a high turnover rate of workers, as well as for the workers to pay work-relate d 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 asse mbly operations since, which has more and more attracted our attention. Robot is to imitate the ma nual 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 ti me is not annoying, and labor productivity is not high, the cost of production major, and sometime s man-made incidents will occur, resulting in processing were injured. Think about what could rep lace it with the processing time of a tour as long as there are a few people, and can operate 24 hour s 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 produ ctivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularl y 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 l ike 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 comp ressed 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, do es not require recycling and disposal, do not pollute the environment. (Concept of environmental p rotection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas pa th 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 mate rial components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic t ransmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But ther e are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aer odynamic stability of the work, resulting in the implementing agencies as the precision of the velo city 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 advantage s: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 impa ct 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 materi al and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 t o 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of th e outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in fl ammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmis sion systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institution s, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffin g 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 ar m can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly us ed manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power tra nsmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, d irection, position, speed of action, a simple mechanical hand is generally not set up a dedicated co ntrol 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. Actio n will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not re quire manual hand. It is an independent not affiliated with a particular host device. It can be progra mmed according to the needs of the task to complete the operation of the provisions. It is character ized with ordinary mechanical performance, also has general machinery, memory, intelligence tern ary 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 pa rticular 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 category is ded icated 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 count ries known as the "Mechanical Hand", which is the host of services, from the host-driven; excepti on 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, stac king robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, p neumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, e tc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam cran e)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new ty pe 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 com bination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work an d 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 se ctors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combinat ion machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to asse mble printed circuit boards, in the machinery industry It can be used to assemble parts and compo nents.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working e nvironment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and haza rdous 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, ma nual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving tec hnology for material handling operations booster equipment, belonging to kinds of non-standard d esign 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 o r perform household tools to accomplish certain specific actions. Application of robot can replace t he people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and aut omation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe roo m 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 unl oading 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 completio n of the upper and lower material, or From the library take place knife knife and so on according t o fixed procedures for the replacement operation. Robot body mainly by the hand and sports instit utions. 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 pn eumatic ﹑﹑ 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 me tallurgical 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 human labor in order to achie ve the production of heavy mechanization and automation that can operate in hazardous environm ents to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, e lectronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment co mmonly 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 manip ulation 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 re quirements of a variety of structural forms, such as clamp type, type and adsorption-based care suc h as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mo bile or compound movements to achieve the required action, to change the location of objects by g rasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece f eatures automatic device, which is mechanized and automated production process developed a ne w type of device. In recent years, as electronic technology, especially computer extensive use of ro bot development and production of high-tech fields has become a rapidly developed a new technol ogy, 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 d uplication of boring work, to reduce human labor intensity and improve labor productivity. Manip ulator has been applied more and more widely, in the machinery industry, it can be used for parts a ssembly, work piece handling, loading and unloading, particularly in the automation of CNC mach ine 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 o f the FMC. The machine tool equipment and machinery in hand together constitute a flexible man ufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume pr oduction, 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 enterpr ises to continuously update the marketable variety, improve product quality, and better adapt to ma rket competition. At present, China's industrial robot technology and its engineering application le vel and comparable to foreign countries there is a certain distance, application and industrializatio n of the size of the low level of robot research and development of a direct impact on raising the le vel of automation in China, from the economy, technical considerations are very necessary. Theref ore, the study of mechanical hand design is very meaningful.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。

机械手的概念和分类

机械手的概念和分类
机械手，英文名mechanical hand，是指能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。

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

机械手主要由手部和运动机构组成。

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

运动机构，使手部完成各种转动(摆动)、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。

运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。

为了抓取空间中任意位置和方位的物体，需有6个自由度。

自由度是机械手设计的关键参数。

自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。

一般专用机械手有2～3个自由度。

机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。

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

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

机械手的专用英语

机械手的专用英语English:A mechanical arm, also known as a robotic arm or industrial robot arm, is a programmable mechanical device with multiple degrees of freedom, designed to manipulate objects or perform tasks in place of a human arm. These devices are commonly used in manufacturing, assembly, and packaging processes to increase efficiency and precision. The mechanical arm typically consists of multiple joints and segments, allowing it to mimic the movement and flexibility of a human arm. It may be equipped with various end effectors, such as grippers, suction cups, or welding tools, to perform a wide range of tasks. The control system of a mechanical arm can be programmed to execute specific movements or sequences, making it versatile and adaptable to different production needs.中文翻译:机械手，也称为机器人手臂或工业机械手臂，是一种可编程的机械设备，具有多个自由度，旨在操作物体或执行任务，以取代人类手臂。

机械手外文翻译

机械手外文翻译机械手外文翻译The Design of Hand Column Type Power Machine工业机械手的设计Serope kalpak jian,Steven R.SchmidAbstract摘要Machine hand developed in recent decades as high-tech automated production equipment.机械手是近几十年发展起来的一种高科技自动化生产设备。

Industrial machine hand is an important branch of industrial machine hands. It features can be 工业机械手是工业机器人的一个重要分支。

它的特点是可通过变成来programmed tasks in a variety of expectations, in both structure and performance advantages of 完成各种预期的作业任务，在构造和性能上兼有人和机器their own people and machines, in particular, reflects the people’s intelligence and adaptability.各自的优点，尤其体现了人的智能和适应性。

The accuracy of machine hand operations and a variety of environments the ability to complete 机械手作业的准确性和在各种坏境中完成作业的能力，the work in the field of national economy and there are broad prospects for development. With the 在国民经济各领域有着广阔的发簪前景。

工业机械手中英文对照外文翻译文献

中英文对照外文翻译文献(文档含英文原文和中文翻译)原文：ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial rob ot 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 mac hines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operat ions and a variety of environments the ability to complete the work in the field of national econom y and there are broad prospects for development. With the development of industrial automation, t here has been CNC machining center, it is in reducing labor intensity, while greatly improved labo r productivity. However, the upper and lower common in CNC machining processes material, usua lly still use manual or traditional relay-controlled semi-automatic device. The former time-consum ing 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, fa ult 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 hydrau lic technology, automatic control technology, sensor technology and computer technology and oth er fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has 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 ind ustry, although still a labor-intensive, mechanical hand use has become increasingly popular. Elect ronics and automotive industries that Europe and the United States multinational companies very e arly 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, beca use they have to face a high turnover rate of workers, as well as for the workers to pay work-relate d 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 asse mbly operations since, which has more and more attracted our attention. Robot is to imitate the ma nual 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 ti me is not annoying, and labor productivity is not high, the cost of production major, and sometime s man-made incidents will occur, resulting in processing were injured. Think about what could rep lace it with the processing time of a tour as long as there are a few people, and can operate 24 hour s 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 produ ctivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularl y 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 l ike 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 comp ressed 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, do es not require recycling and disposal, do not pollute the environment. (Concept of environmental p rotection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas pa th 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 mate rial components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic t ransmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aer odynamic stability of the work, resulting in the implementing agencies as the precision of the velo city 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 advantage s: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 impa ct on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-d istance transport.The lower working pressure of compressed air, pneumatic components and therefore the materi al and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 t o 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of th e outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in fl ammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmis sion systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institution s, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffin g 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 ar m can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly us ed manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power tra nsmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated co ntrol 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. Actio n will have to use complex programmable robot controller, the micro-computer control. Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not re quire manual hand. It is an independent not affiliated with a particular host device. It can be progra mmed according to the needs of the task to complete the operation of the provisions. It is character ized with ordinary mechanical performance, also has general machinery, memory, intelligence tern ary machinery. The second category is the need to manually do it, called the operation of aircraft. I t originated in the atom, military industry, first through the operation of machines to complete a pa rticular 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 category is ded icated 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 count ries known as the "Mechanical Hand", which is the host of services, from the host-driven; excepti on 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, stac king robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, p neumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, e tc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam cran e)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new ty pe 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 com bination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work an d 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, combinat ion machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to asse mble printed circuit boards, in the machinery industry It can be used to assemble parts and compo nents.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working e nvironment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and haza rdous 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, ma nual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving tec hnology for material handling operations booster equipment, belonging to kinds of non-standard d esign 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 o r perform household tools to accomplish certain specific actions. Application of robot can replace t he people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and aut omation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe roo m 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 unl oading 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 completio n of the upper and lower material, or From the library take place knife knife and so on according t o fixed procedures for the replacement operation. Robot body mainly by the hand and sports instit utions. 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 pn eumatic ﹑﹑ 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 me tallurgical 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, handlingobjects or operating tools, automatic operation device. It can replace human labor in order to achie ve the production of heavy mechanization and automation that can operate in hazardous environm ents to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, e lectronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment co mmonly 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 manip ulation 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 t ool) components, according to grasping objects by shape, size, weight, material and operational re quirements of a variety of structural forms, such as clamp type, type and adsorption-based care suc h as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mo bile or compound movements to achieve the required action, to change the location of objects by g rasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece f eatures automatic device, which is mechanized and automated production process developed a ne w type of device. In recent years, as electronic technology, especially computer extensive use of ro bot development and production of high-tech fields has become a rapidly developed a new technol ogy, 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 d uplication of boring work, to reduce human labor intensity and improve labor productivity. Manip ulator has been applied more and more widely, in the machinery industry, it can be used for parts a ssembly, work piece handling, loading and unloading, particularly in the automation of CNC mach ine 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 o f the FMC. The machine tool equipment and machinery in hand together constitute a flexible man ufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume pr oduction, 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 enterpr ises to continuously update the marketable variety, improve product quality, and better adapt to ma rket competition. At present, China's industrial robot technology and its engineering application le vel and comparable to foreign countries there is a certain distance, application and industrializatio n 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. Theref ore, the study of mechanical hand design is very meaningful.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。

机械手外文文献及翻译

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。

机械手外文文献和文献翻译

This is a application of Application Ser。

No。

10/799，595, filed on Mar. 15，2004 nowoptical 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, and 20—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。

机械手外文文献翻译2

This is a application of Application Ser. No. 10/799,595, filed on Mar. 15, 2004 now U.S. Pat. No.这是一个应用程序的应用系列号10/799,595，2004 年 3 月15 日美国英保通™技术现在提交。

7,081,700 号。

领域的发明本发明涉及机械手等装配一个微小的对象，例如微型机械组件或单位使用放大镜观察设备如光镜、电镜，或扫描隧道显微镜的分钟部分装配装置或执行诊断、治疗、研究、生物生产、或类似的实际操作，紧凑的机械手装置，例如分钟组织、细胞或生命体和操纵仪器使用机械手分钟对象的基因。

发明背景技术控制的操纵成员轮流使用一般大小轴承和技术的微小的工作，工作装置上执行必要的过程，通过旋转臂一般大小臂或工具沿着拱式指南（例如，日本专利号7-256575)。

在像这些描述的常规仪器上，如果远端的末端不是位于轴承的旋转轴上或拱式指导，远端的出视野的末端移动或深度的姿势控制操作显微镜的重点。

这就需要再次确定显微镜和远端的末端的位置。

正如上文所述，操纵这操作一个微小的对象时的姿态在远端的末端控制，操作的目标对象往往移出显微镜的视野。

其中有三个旋转自由度的常规机械手，特别是因为对应于各自的自由度的旋转轴不配合对方做不相交于一点，远端的末端往往搬出视野或深度聚焦显微镜的应付姿势控制操作。

在这种情况下，在显微镜和远端的末端必须位于再次，此操作需要较长的时间。

本发明的概要它是目前发明提供紧凑的机械手装置解决了上述问题，并操纵微小的目标对象，如机械手的对象和一分钟对象操作器具或类似使用机械手。

为了达到上述目的，根据目前的发明，那里提供机械臂组成：操作的目标对象，操作的成员正在驱动和控制的多元化的自由旋转轴；在穿越的自由旋转轴的所有多元化和操纵远端部分的交集附近放操作的成员。

根据这项安排，机械手有多元化的（通常为三) 自由旋转轴相交于一点，和操纵成员（末端) 的操作手法的目标对象的远端部分位于附近的交叉的机制。

机械手英语文献翻译

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。

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机械手外文翻译.ManipulatorAlong with our country the rapid development of industrial production, rapidly improve degree of automation, implementationartifacts of handling, steering, transmission or toil for welding gun, spray gun, spanner and other tools for processing, assembly operations such as automation, should cause the attention of people more and more.Manipulator is to imitate the people part of the action, accordingto a given program, track and demanding acquirement, handling or operation of the automatic device. Applied in the industrial production of the manipulator is referred to as "industrial manipulator". Application manipulator can improve the automation of production waterin production and labor productivity; Can reduce labor fatigue strength, to ensure product quality, implement safety production; Especially in high temperature and high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as harsh environment, it instead of people normal work, the more significant. Therefore, in the machining, casting, welding, heat treatment, electroplating, spray painting, assembly, and light industry, transportation industry get more and more extensive application, etc.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 working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.Manipulator is a kind of can automatic positioning control and can change to programming with multifunctional machine, it has more degrees of freedom, can be used to move things to complete the work in different environments. In China the low level of wages, plastic products industry still belongs to the labor-intensive, the use of the manipulator has become more popular. The electronic and automobile industry in Europe and the United States multinational companies very early in their factories in China introduced automatic production. But now the changeis the industrial intensive distribution in south China, east China's coastal regions local plastic processing plant also began to manipulator show more and more interest, because they have to face high worker turnover rate, as as the challengewell s brought about by the workers pay inductrial injury fee.一、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. 1. 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. 2. The driving system movement of the actuator by the transmission systemto achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.3. The control system of manipulator control system main function isto 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 valvesand control circuit can realize dynamic transmission system, theexecuting agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control. 二、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, alsohas general machinery, memory, intelligence of three yuan. The second is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete aspecific 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.三、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 ofelectronic 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 manipulatorcan ..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 largerthan 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 assembleprinted 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 orheavy 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 usein high temperature, serious pollution of local leave work pieces andthe loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing centerin 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 andlifting 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 fieldof 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 humansdo 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 for parts 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 technologyand its engineering application level and foreign than there is acertain 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.四、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 ofwork 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 ofthe 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 out accident can continue to work. As a result, people puts forward higher requirementson mechanical hand, hope to make it a "vision", "touch", etc, make it to the judgment, the choice of object, can be continuously adjusted toadapt to changing conditions, and can perform a "hand - eye coordination. This requires a computer can handle a lot of information, require themto 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 isperfect, ..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...外文翻译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。

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