機械手設(shè)計外文翻譯2

1、譯文一機械手機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅(qū)動、傳感器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟(jì)的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人產(chǎn)品?，F(xiàn)代工業(yè)機器人是人類真正的奇跡工程。一個像人那么大的機器人可以輕松地抬起超過一百磅并可以在誤差+-0.006英寸誤差范圍內(nèi)重復(fù)的移動。更重要的是這些機器人可以每天24小時永不停止地工作。在許多應(yīng)用中（特別是在自動工業(yè)中）他們是通過編程控制的，但是他們一旦編程一次，他們可以重復(fù)地做同一工作許多年。機器人產(chǎn)品的實用化，既解決了許多單靠人力難以解決

2、的實際問題，又促進(jìn)了工業(yè)自動化的進(jìn)程。 目前，由于機器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟(jì)價值。 由于我國經(jīng)濟(jì)建設(shè)和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經(jīng)擺在了人們的議事日程上來。隨著科學(xué)技術(shù)的發(fā)展和人類知識水平的提高，人們越來越認(rèn)識到污水處理的重要性和迫切性，科學(xué)家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟(jì)發(fā)展的必然。 本文結(jié)合塑料一次擠出成

3、型機和塑料抓取機械手的研制過程中出現(xiàn)的問題，綜述近兒年機器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎(chǔ)上，對物料抓取機械手整體機械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進(jìn)行了分析和設(shè)計，提出了一套經(jīng)濟(jì)型設(shè)計方案。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅(qū)動元件的動力傳遞給機器人機械手相應(yīng)的執(zhí)行機構(gòu)，以實現(xiàn)各種必要的運動，傳動方式上采用結(jié)構(gòu)緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉(zhuǎn)運動轉(zhuǎn)換為直線運動的螺旋傳動。機械手驅(qū)動系統(tǒng)的設(shè)計往往受到作業(yè)環(huán)境條件的限制，同時也要考慮價格因素的影響以及能夠達(dá)到的技術(shù)水平。

4、由于步進(jìn)電機能夠直接接收數(shù)字量，響應(yīng)速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動機構(gòu)的動力元件，因此，在驅(qū)動裝置中采用由步進(jìn)電機構(gòu)成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達(dá)到經(jīng)濟(jì)性、實用化目的，在此基礎(chǔ)上，對步進(jìn)電機的功率計一算及選型問題經(jīng)行了分析。 在完成機械結(jié)構(gòu)和驅(qū)動系統(tǒng)設(shè)計的基礎(chǔ)上，對物料抓取機械手運動學(xué)和動力學(xué)進(jìn)行了分析。運動學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對操作臂進(jìn)行了運動學(xué)正、逆問題的分析可以完成操作空間位置和速度向驅(qū)動空間的映射，采用齊次坐標(biāo)變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運動學(xué)方程求解問題，對控制系

5、統(tǒng)設(shè)計提供了理論依據(jù)。機器人動力學(xué)是研究物體的運動和作用力之間的關(guān)系的科學(xué)，研究的目的是為了滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學(xué)進(jìn)行了分析，計算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進(jìn)電機的選型和動力學(xué)分析與結(jié)構(gòu)優(yōu)化提供理論依據(jù)。 控制部分是整個物料抓取機械手系統(tǒng)設(shè)計關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實現(xiàn)直接關(guān)系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機的選用上，采用結(jié)構(gòu)緊湊、擴(kuò)展功能強和可靠性高的pc工業(yè)控制計算機作為主機，配以pcl-839卡主要承擔(dān)系統(tǒng)功能初始化、數(shù)據(jù)運算與處理、步進(jìn)電機驅(qū)動以及故障診斷等功能;同時對pcl-

6、839卡的結(jié)構(gòu)特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統(tǒng)以及極限位置功能賴以存在的物質(zhì)基礎(chǔ)，軟件則是計算機控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計的目的是以最優(yōu)的方式將各部分功能有機的結(jié)合起來，使系統(tǒng)具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設(shè)計上，采用的是模塊化結(jié)構(gòu)，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計算機和各控制單元之間全部由pcl-839卡聯(lián)系，并且由該卡實現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。 步進(jìn)電機的啟停頻率遠(yuǎn)遠(yuǎn)小于其最高運行頻率，為了提高工作效率，需要步進(jìn)電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控

7、制可以歸結(jié)為以某種合理的力一式控制發(fā)送到步進(jìn)電機驅(qū)動器的脈沖頻率，這可由硬件實現(xiàn)，也可由軟件方法來實現(xiàn)。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進(jìn)電機變速控制策略:定時器常量修改變速控制方案。該方法能使步進(jìn)電機加速度與其力矩頻率曲線較好地擬合，從而提高變速效率。而且它的計算量比線性加速度變速和基于指數(shù)規(guī)律加速度的變速控制小得多。通過實驗證明了該方法的有效性。 最后，對論文主要研究內(nèi)容和取得的技術(shù)成果進(jìn)行了總結(jié)，提出了存在的問題和不足，同時對機器人技術(shù)的發(fā)展和應(yīng)用進(jìn)行了展望。 研究機械手控制的目的是保持以計算機為基礎(chǔ)的機械手的動態(tài)響應(yīng)，以便與一些預(yù)先設(shè)定的系統(tǒng)性能和理想目標(biāo)保持一致。一

8、般情況下，機械手的動態(tài)性能直接依賴于控制算法的效率和機械手的動態(tài)模型?？刂茊栴}包括獲得自然的機械手系統(tǒng)的動態(tài)模型，然后指定相應(yīng)的控制規(guī)則或步驟以達(dá)到想要的系統(tǒng)響應(yīng)和性能。目前的工業(yè)機械臂控制將每一個機械臂的聯(lián)合看做一個簡單的聯(lián)合伺服。伺服方法不能充分地模仿不同的動力學(xué)機械手，因為它忽略了機械手整體的運動和配置。這些控制系統(tǒng)的參數(shù)的變化有時是足夠重要，以至于使常規(guī)的反饋控制方法失效。其結(jié)果是減少了伺服響應(yīng)的速度和阻尼，限制了精度和最終效應(yīng)的速度，使系統(tǒng)僅適用于有限精度的工作。機械手以這種方式控制速度降低而沒有不必要的震動。任何在這一領(lǐng)域和其它領(lǐng)域的機械臂性能增益要求更有效率的動態(tài)模型、精密的控制

9、方法、專門的計算機架構(gòu)和并行處理技術(shù)。 在工業(yè)生產(chǎn)和其他領(lǐng)域內(nèi)，由于工作的需要，人們經(jīng)常受到高溫、腐蝕及有毒氣體等因素的危害，增加了工人的勞動強度，甚至于危及生命。自從機械手問世以來，相應(yīng)的各種難題迎刃而解。機械手可在空間抓、放、搬運物體，動作靈活多樣，適用于可變換生產(chǎn)品種的中、小批量自動化生產(chǎn)，廣泛應(yīng)用于柔性自動線。機械手一般由耐高溫，抗腐蝕的材料制成，以適應(yīng)現(xiàn)場惡劣的環(huán)境，大大降低了工人的勞動強度，提高了工作效率。機械手是工業(yè)機器人的重要組成部分，在很多情況下它就可以稱為工業(yè)機器人。工業(yè)機器人是集機械、電子、控制、計算機、傳感器、人工智能等多學(xué)科先進(jìn)技術(shù)于一體的現(xiàn)代制造業(yè)重要的自動化裝備。

10、廣泛采用工業(yè)機器人，不僅可以提高產(chǎn)品的質(zhì)量與產(chǎn)量，而且對保障人身安全，改善勞動環(huán)境，減輕勞動強度，提高勞動生產(chǎn)率，節(jié)約原材料消耗以及降低生產(chǎn)成本，有著十分重要的意義。機械部件有滾珠絲杠、滑軌、氣控機械抓手等。電氣方面有可編程控制器（plc）、編程器、步進(jìn)電機、步進(jìn)電機驅(qū)動器、直流電機、光電傳感器、開關(guān)電源、電磁閥、旋轉(zhuǎn)碼盤、操作臺等部件?？删幊炭刂破靼l(fā)出兩路脈沖到步進(jìn)電機驅(qū)動器，分別驅(qū)動橫軸、豎軸的步進(jìn)電機運轉(zhuǎn)；直流電機拖動底座和手爪的旋轉(zhuǎn)；接近開關(guān)、微動開關(guān)、旋轉(zhuǎn)碼盤將位置信號反饋給主機，由主機發(fā)出指令來實現(xiàn)對手臂的伸縮、上下、轉(zhuǎn)動位置的控制；主機發(fā)信號到氣動電磁閥，以控制手爪的張合來抓放物

11、體。本設(shè)計可根據(jù)工件的變化及運動流程的要求隨時更改相關(guān)參數(shù)，具有很大的靈活性和可操作性。外文原文一manipulatorrobot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence

12、and so on. with the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. the practicality use of robot products not only solves the problems which are difficult to operate for human being, but a

13、lso advances the industrial automation program. modern industrial robots are true marvels of engineering. a robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of +/-0.006 inches. furthermore these robots can do that 24 hours a day

14、 for years on end with no failures whatsoever. though they are reprogrammable, in many applications (particularly those in the auto industry) they are programmed once and then repeat that exact same task for years. at present, the research and development of robot involves several kinds of technolog

15、y and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. to development economic practicality and high reliability robot system will be value to robot social application and economy development. with the rapid progress wi

16、th the control economy and expanding of the modern cities, the let of sewage is increasing quickly: with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. active bacteria me

17、thod is an effective technique for sewage disposal，the lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. the abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. therefore, it

18、is very necessary to design a manipulator that can automatically fulfill the plastic holding. with the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis

19、of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. in this article, the mechanical configuration combines the character of direction co

20、ordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system. the main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. in this transmission structure, the screw transmission mech

21、anism transmits the rotary motion into linear motion. worm gear can give vary transmission ratio. both of the transmission mechanisms have a characteristic of compact structure. the design of drive system often is limited by the environment condition and the factor of cost and technical lever. the s

22、tep motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. in this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for

23、control precision but also for the target of economic and practicality. on this basis，the analysis of stepping motor in power calculating and style selecting is also given. the analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structur

24、e and drive system. kinematics analysis is the basis of path programming and track control. the positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. the relationship between manipulators tip position and arthrosis angles

25、 is concluded by coordinate transform method. the geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system. the f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand

26、of real time control. in this chamfer, newton-euripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting. control system is the key and core part of t

27、he object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle. with the demand of the pcl-839 card, the pc computer which has

28、 a. tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on. a t the same time, the configuration structure features, task principles and the position

29、function with high precision of the control card pcl-839 are analyzed. hardware is the matter foundation of the control. system and the software is the spirit of the control system. the target of the software is to combine all the parts in optimizing style and to improve the efficiency and reliabili

30、ty of the control system. the software design of the object holding manipulator control system is divided into several blocks such as system initialization block, data process block and error station detect and dispose model and so on. pcl-839 card can solve the communication between the main comput

31、er and the control cells and take the measure of reducing the influence of the outer signal to the control system. the start and stop frequency of the step motor is far lower than the maximum running frequency. in order to improve the efficiency of the step motor, the increase and decrease of the sp

32、eed is must considered when the step motor running in high speed and start or stop with great acceleration. the increase and decrease of the motors speed can be controlled by the pulse freque ncy sent to the step motor drive with a rational method. this can be implemented either by hardware or by so

33、ftware. a step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward. the motor s acceleration can fit the torque-frequency curve properly with this method. and the amount of calculation load is less than the linear acceleration

34、 shift control method and the method which is based on the exponential rule to change speed. the method is tested by experiment. a t last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed. the development and application of robot

35、in the future is expected.the purpose of manipulator control is to maintain the dynamic response of a computer-based manipulator in accordance with some prespecified system performance and desired goals. in general, the dynamic performance of a manipulator directly depends on the efficiency of the c

36、ontrol algorithms and the dynamic model of the manipulator. the control problem consists of obtaining dynamic models of the physical robot arm system and then specifying corresponding control laws or strategies to achieve the desired system response and performance.current industrial approaches to r

37、obot arm control treat each joint of the robot arm as a simple joint servomechanism. the servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. these changes in the parameters of the controlled sy

38、stem sometimes are significant enough to render conventional feedback control strategies ineffective. the result is reduced servo response speed and damping, limiting the precision and speed of the end-effector and making it appropriate only for limited-precision tasks. manipulators controlled in th

39、is manner move at slow speeds with unnecessary vibrations. any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processi

40、ng techniques. in the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. the corresponding problems are solved since the robot

41、arm comes out. the robot arms can catch, put and carry objects, and its movements are flexible and diversified. it applies to medium and small-scale automated production in which production varieties can be switched. and it is widely used on soft automatic line. the robot arms are generally made by

42、withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. so they reduced the labor intensity of the workers significantly and raised work efficiency. the robot arm is an important component of industrial robots, and it can be called industrial robots on many occa

43、sions. industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. widely using industrial robots, not only can improve product quality and produ

44、ction, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs. there are such mechanical components as ball footbridge, s

45、lides, an air control mechanical hand and so on in the design. a programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensor, switch power supply, an electromagnetism valve and control desk are used in electrical connection. the programmable

46、controller output two lines pulses to stepping motors drives to drive the two stepping motors drives on beam and vertical axis; direct current motors drive the rotation of the base and the hand; sensors send signals of location to the mainframe, and the mainframe sends directive to control the exten

47、sion and contraction, up and down, moves location; the mainframe send signals to control the opening and closing of the hand to carry objects. related parameters can be changed according to request of the changes of the objects and movement flow at any time change the relevant parameters in the desi

48、gn, so it has great flexibility and operability.譯文二數(shù)控技術(shù)數(shù)控是可編程自動化技術(shù)的一種形式，通過數(shù)字、字母和其他符號來控制加工設(shè)備。數(shù)字、字母和符號用適當(dāng)?shù)母袷骄幋a為一個特定工件定義指令程序。當(dāng)工件改變時，指令程序就改變。這種改變程序的能力使數(shù)控適合于中、小批量生產(chǎn)，寫一段新程序遠(yuǎn)比對加工設(shè)備做大的改動容易得多。數(shù)控機床有兩種基本形式：點位控制和連續(xù)控制(也稱為輪廓控制)。點位控制機床采用異步電動機，因此，主軸的定位只能通過完成一個運動或一個電動機的轉(zhuǎn)動來實現(xiàn)。這種機床主要用于直線切削或鉆孔、鏜孔等場合。數(shù)控系統(tǒng)由下列組件組成：數(shù)據(jù)輸入裝置，

49、帶控制單元的磁帶閱讀機，反饋裝置和切削機床或其他形式的數(shù)控設(shè)備。數(shù)據(jù)輸人裝置，也稱“人機聯(lián)系裝置”，可用人工或全自動方法向機床提供數(shù)據(jù)。人工方法作為輸人數(shù)據(jù)唯一方法時，只限于少量輸入。人工輸入裝置有鍵盤，撥號盤，按鈕，開關(guān)或撥輪選擇開關(guān)，這些都位于機床附近的一個控制臺上。撥號盤通常連到一個同步解析器或電位計的模擬裝置上。在大多數(shù)情況下，按鈕、開關(guān)和其他類似的旋鈕是數(shù)據(jù)輸入元件。人工輸入需要操作者控制每個操作，這是一個既慢又單調(diào)的過程，除了簡單加工場合或特殊情況，已很少使用。幾乎所有情況下，信息都是通過卡片、穿孔紙帶或磁帶自動提供給控制單元。在傳統(tǒng)的數(shù)控系統(tǒng)中，八信道穿孔紙帶是最常用的數(shù)據(jù)輸入形

50、式，紙帶上的編碼指令由一系列稱為程序塊的穿孔組成。每一個程序塊代表一種加工功能、一種操作或兩者的組合。紙帶上的整個數(shù)控程序由這些連續(xù)數(shù)據(jù)單元連接而成。帶有程序的長帶子像電影膠片一樣繞在盤子上，相對較短的帶子上的程序可通過將紙帶兩端連接形成一個循環(huán)而連續(xù)不斷地重復(fù)使用。帶子一旦安裝好，就可反復(fù)使用而無需進(jìn)一步處理。此時，操作者只是簡單地上、下工件。穿孔紙帶是在帶有特制穿孔附件的打字機或直接連到計算機上的紙帶穿孔裝置上做成的。紙帶制造很少不出錯，錯誤可能由編程、卡片穿孔或編碼、紙帶穿孔時的物理損害等形成。通常，必須要試走幾次來排除錯誤，才能得到一個可用的工作紙帶。雖然紙帶上的數(shù)據(jù)是自動進(jìn)給的，但實

51、際編程卻是手工完成的，在編碼紙帶做好前，編程者經(jīng)常要和一個計劃人員或工藝工程師一起工作，選擇合適的數(shù)控機床，決定加工材料，計算切削速度和進(jìn)給速度，決定所需刀具類型，仔細(xì)閱讀零件圖上尺寸，定下合適的程序開始的零參考點，然后寫出程序清單，其上記載有描述加工順序的編碼數(shù)控指令，機床按順序加工工件到圖樣要求?？刂茊卧邮芎蛢Υ婢幋a數(shù)據(jù)，直至形成一個完整的信息程序塊，然后解釋數(shù)控指令，并引導(dǎo)機床得到所需運動。為更好理解控制單元的作用，可將它與撥號電話進(jìn)行比較，即每撥一個數(shù)字，就儲存一個，當(dāng)整個數(shù)字撥好后，電話就被激活，也就完成了呼叫。裝在控制單元里的紙帶閱讀機，通過其內(nèi)的硅光二極管，檢測到穿過移動紙帶上

52、的孔漏過的光線，將光束轉(zhuǎn)變成電能，并通過放大來進(jìn)一步加強信號，然后將信號送到控制單元里的寄存器，由它將動作信號傳到機床驅(qū)動裝置。有些光電裝置能以高達(dá)每秒1000個字節(jié)的速度閱讀，這對保持機床連續(xù)動作是必須的，否則，在輪廓加工時，刀具可能在工件上產(chǎn)生劃痕。閱讀裝置必須要能以比控制系統(tǒng)處理數(shù)據(jù)更快的速度來閱讀數(shù)據(jù)程序塊。反饋裝置是用在一些數(shù)控設(shè)備上的安全裝置，它可連續(xù)補償控制位置與機床運動滑臺的實際位置之間的誤差。裝有這種直接反饋檢查裝置的數(shù)控機床有一個閉環(huán)系統(tǒng)裝置。位置控制通過傳感器實現(xiàn)，在實際工作時，記錄下滑臺的位置，并將這些信息送回控制單元。接受到的信號與紙帶輸入的信號相比較，它們之間的任何

53、偏差都可得到糾正。在另一個稱為開環(huán)的系統(tǒng)中，機床僅由響應(yīng)控制器命令的步進(jìn)電動機驅(qū)動定位，工件的精度幾乎完全取決于絲杠的精度和機床結(jié)構(gòu)的剛度。有幾個理由可以說明步進(jìn)電機是一個自動化申請的非常有用的驅(qū)動裝置。對于一件事物，它被不連續(xù)直流電壓脈沖驅(qū)使,是來自數(shù)傳計算機和其他的自動化的非常方便的輸出控制系統(tǒng)。當(dāng)多數(shù)是索引或其他的自動化申請所必備者的時候，步進(jìn)電機對運行一個精確的有角進(jìn)步也是理想的。因為控制系統(tǒng)不需要監(jiān)聽就提供特定的輸出指令而且期待系統(tǒng)適當(dāng)?shù)胤磻?yīng)的公開- 環(huán)操作造成一個回應(yīng)環(huán)，步進(jìn)電機是理想的。 一些工業(yè)的機械手使用高抬腿運步的馬乘汽車駕駛員，而且步進(jìn)電機是有用的在數(shù)字受約束的工作母機中

54、。 這些申請的大部分是公開- 環(huán) ,但是雇用回應(yīng)環(huán)檢測受到驅(qū)策的成份位置是可能的。 環(huán)的一個分析者把真實的位置與需要的位置作比較，而且不同是考慮過的錯誤。 那然后駕駛員能發(fā)行對步進(jìn)電機的電脈沖，直到錯誤被減少對準(zhǔn)零位。在這個系統(tǒng)中，沒有信息反饋到控制單元的自矯正過程。出現(xiàn)誤動作時，控制單元繼續(xù)發(fā)出電脈沖。比如，一臺數(shù)控銑床的工作臺突然過載，阻力矩超過電機轉(zhuǎn)矩時，將沒有響應(yīng)信號送回到控制器。因為，步進(jìn)電機對載荷變化不敏感，所以許多數(shù)控系統(tǒng)設(shè)計允許電機停轉(zhuǎn)。然而，盡管有可能損壞機床結(jié)構(gòu)或機械傳動系統(tǒng)，也有使用帶有特高轉(zhuǎn)矩步進(jìn)電機的其他系統(tǒng)，此時，電動機有足夠能力來應(yīng)付系統(tǒng)中任何偶然事故。最初的數(shù)控

55、系統(tǒng)采用開環(huán)系統(tǒng)。在開、閉環(huán)兩種系統(tǒng)中，閉環(huán)更精確，一般說來更昂貴。起初，因為原先傳統(tǒng)的步進(jìn)電動機的功率限制，開環(huán)系統(tǒng)幾乎全部用于輕加工場合，最近出現(xiàn)的電液步進(jìn)電動機已越來越多地用于較重的加工領(lǐng)域。外文原文二numerical controlnumerical control(nc)is a form of programmable automation in which the processing equipment is controlled by means of numbers，letters，and other symbolsthe numbers，letters，and symb

56、ols are coded in an appropriate format to define a program of instructions for a particular workpart or jobwhen the job changes，the program of instructions is changedthe capability to change the program is what makes nc suitable for low-and medium-volume productionit is much easier to write programs

57、 than to make major alterations of the processing equipmentthere are two basic types of numerically controlled machine tools：pointtopoint and continuouspath(also called contouring)pointtopoint machines use unsynchronized motors，with the result that the position of the machining head can be assured o

58、nly upon completion of a movement，or while only one motor is runningmachines of this type are principally used for straightline cuts or for drilling or boringthe nc system consists of the following components：data input，the tape reader with the control unit，feedback devices，and the metalcutting mach

59、ine tool or other type of nc equipmentdata input，also called“mantocontrol link”，may be provided to the machine tool manually，or entirely by automatic meansmanual methods when used as the sole source of input data are restricted to a relatively small number of inputsexamples of manually operated devices are keyboard dials，pushbuttons，switches，or thumbwheel selectorsthese are located on a console near