機(jī)械臂外文文獻(xiàn)以和翻譯

附件1：外文資料翻譯譯文機(jī)械手機(jī)械手是近幾十年發(fā)展起來(lái)的一種高科技自動(dòng)化生產(chǎn)設(shè)施。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個(gè)重要分支。它的特色是可經(jīng)過(guò)編程來(lái)達(dá)成各樣預(yù)期的作業(yè)任務(wù)，在結(jié)構(gòu)和性能上兼有人和機(jī)器各自的長(zhǎng)處，特別表現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè)的正確性和各樣環(huán)境中達(dá)成作業(yè)的能力，在公民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)展遠(yuǎn)景。跟著工業(yè)自動(dòng)化的發(fā)展,出現(xiàn)了數(shù)控加工中心,它在減少工人的勞動(dòng)強(qiáng)度的同時(shí),大大提升了勞動(dòng)生產(chǎn)率。但數(shù)控加工中常有的上下料工序,往常仍采用人工操作或傳統(tǒng)繼電器控制的半自動(dòng)化妝置。前者費(fèi)時(shí)費(fèi)工、效率低;后者因設(shè)計(jì)復(fù)雜,需許多繼電器,接線繁瑣,易受車體振動(dòng)擾亂,而存在靠譜性差、故障多、維修困難等問(wèn)題。可編程序控制器PLC控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、擁有較強(qiáng)的抗擾亂能力,保證了系統(tǒng)運(yùn)轉(zhuǎn)的靠譜性,降低了維修率,提升了工作效率。機(jī)械手技術(shù)波及到力學(xué)、機(jī)械學(xué)、電氣液壓技術(shù)、自動(dòng)控制技術(shù)、傳感器技術(shù)和計(jì)算機(jī)技術(shù)等科學(xué)領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。一、 工業(yè)機(jī)械手的概括機(jī)械手是一種能自動(dòng)化定位控制并可從頭編程序以改動(dòng)的多功能機(jī)器，它有多個(gè)自由度，可用來(lái)搬運(yùn)物體以達(dá)成在各個(gè)不一樣環(huán)境中工作。在薪資水平較低的中國(guó)，塑料制品德業(yè)只管仍屬于勞動(dòng)力密集型，機(jī)械手的使用已經(jīng)愈來(lái)愈普及。那些電子和汽車業(yè)的歐美跨國(guó)公司很早就在它們?cè)O(shè)在中國(guó)的工廠中引進(jìn)了自動(dòng)化生產(chǎn)。但此刻的變化是那些散布在工業(yè)密集的華南、華東沿海地域的中國(guó)本地塑料加工廠也開始對(duì)機(jī)械腕表現(xiàn)出愈來(lái)愈濃重的興趣，因?yàn)樗麄円鎸?duì)工人流失率高，以及為工人交工傷費(fèi)帶來(lái)的挑戰(zhàn)。跟著我國(guó)工業(yè)生產(chǎn)的飛騰發(fā)展，特別是改革開發(fā)此后，自動(dòng)化程度的快速提高，實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進(jìn)行加工、裝配等作業(yè)自化，已愈來(lái)愈惹起我們重視。機(jī)械手是模擬著人手的部分動(dòng)作，按給定的程序、軌跡和要?jiǎng)?wù)實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)或操作的自動(dòng)機(jī)械裝置。在現(xiàn)實(shí)生活中，你能否會(huì)發(fā)現(xiàn)這樣一個(gè)問(wèn)題。在機(jī)械工廠里，加工零件裝料的時(shí)候能否是很煩的，勞動(dòng)生產(chǎn)率不高，生產(chǎn)成本大，有時(shí)還會(huì)發(fā)生一些人為的時(shí)候能否是很煩的，事故，以致加工者受傷。想一想看用什么能夠來(lái)取代呢，加工的時(shí)候只需有幾個(gè)人巡視一下，且能夠二十四個(gè)小時(shí)飽和運(yùn)作，人行嗎？回答是必定的，可是機(jī)械手能夠來(lái)取代它。生產(chǎn)中應(yīng)用機(jī)械手能夠提升生產(chǎn)的自動(dòng)化水平易勞動(dòng)生產(chǎn)率;能夠減少勞動(dòng)強(qiáng)度、保證產(chǎn)質(zhì)量量、實(shí)現(xiàn)安全生產(chǎn)；特別是在高溫、高壓、低溫、低壓、粉塵易爆、有毒氣體和放射性等惡劣的環(huán)境中能夠取代人進(jìn)行正常的工作。想到這里我就很想設(shè)計(jì)一個(gè)機(jī)械手，來(lái)用于生產(chǎn)實(shí)質(zhì)中。為何選著設(shè)計(jì)機(jī)械手用氣動(dòng)來(lái)供給動(dòng)力：氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力源驅(qū)動(dòng)的機(jī)械手。用氣壓驅(qū)動(dòng)與其余能源驅(qū)動(dòng)比較有以下長(zhǎng)處：1.空氣取之不竭，用過(guò)以后排入大氣，不需要回收和辦理，不污染環(huán)境。（環(huán)保的觀點(diǎn)）2.空氣的沾性很小，管路中壓力損失也很?。ㄒ话銡饴纷枇p失不到油路的千分之―）,便于遠(yuǎn)距離輸送。3.壓縮空氣的工作壓力較低（一般為4一8公斤/每平方厘米），所以對(duì)動(dòng)元件的材質(zhì)和制造精度要求能夠降低。4.與液壓傳動(dòng)對(duì)比，它的動(dòng)作和反響都快，這是氣動(dòng)突出的長(zhǎng)處之一。5.空氣介質(zhì)潔凈，亦不會(huì)變質(zhì)，管路不易擁塞?？墒且灿兴乐胁蛔愕牡胤剑?.因?yàn)榭諝獾目蓧嚎s性,致負(fù)氣動(dòng)工作的穩(wěn)固性差，因此造成履行機(jī)構(gòu)運(yùn)動(dòng)速度和定為精度不易控制。2.因?yàn)槭褂脷鈮狠^低，輸賣力不行能太大，為了增添輸賣力，必定使整個(gè)氣動(dòng)系統(tǒng)的結(jié)構(gòu)尺寸加大。用氣壓驅(qū)動(dòng)與用其余能源驅(qū)動(dòng)比較有以下長(zhǎng)處：空氣取之不停，用過(guò)以后排入大氣，不需回收和辦理，不污染環(huán)境。有時(shí)的或少許的泄露不致對(duì)生產(chǎn)發(fā)生嚴(yán)重的影響?？諝獾恼承院苄。苈分袎毫p失也就很小，便于遠(yuǎn)距離輸送。壓縮空氣的工作壓力較低，所以對(duì)氣動(dòng)元件的材質(zhì)和制造精度要求能夠降低。一般說(shuō)來(lái)，來(lái)去運(yùn)動(dòng)推力在1~2噸以下采納氣動(dòng)經(jīng)濟(jì)性較好。與液壓傳動(dòng)對(duì)比，它的動(dòng)作和反響都快，這是氣動(dòng)的突出長(zhǎng)處之一?？諝饨橘|(zhì)潔凈，亦不會(huì)變質(zhì)，管路不易擁塞。它可安全地應(yīng)用在易燃、易爆和粉塵大的場(chǎng)合。又便于實(shí)現(xiàn)過(guò)載自動(dòng)保護(hù).二、機(jī)械手的構(gòu)成機(jī)械手的形式是多種多樣的，有的較為簡(jiǎn)單，有的較為復(fù)雜，但基本的構(gòu)成形式是同樣的，一般由履行機(jī)構(gòu)、傳動(dòng)系統(tǒng)、控制系統(tǒng)和協(xié)助裝置構(gòu)成。履行機(jī)構(gòu)機(jī)械手的履行機(jī)構(gòu)，由手、手段、手臂、支柱構(gòu)成。手是抓取機(jī)構(gòu)，用來(lái)夾緊和松動(dòng)工件，與人的手指相仿，能達(dá)成人手的近似動(dòng)作。手段是連結(jié)手指與手臂的元件，能夠進(jìn)行上下、左右和展轉(zhuǎn)動(dòng)作。簡(jiǎn)單的機(jī)械手能夠沒(méi)有手段。支柱用來(lái)支撐手臂，也能夠依據(jù)需要做成挪動(dòng)。2?傳動(dòng)系統(tǒng)履行機(jī)構(gòu)的動(dòng)作要由傳動(dòng)系統(tǒng)來(lái)實(shí)現(xiàn)。常用機(jī)械手傳動(dòng)系統(tǒng)分機(jī)械傳動(dòng)、液壓傳動(dòng)、氣壓傳動(dòng)和電力傳動(dòng)等幾種形式。3.控制系統(tǒng)機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按必定的程序、方向、地點(diǎn)、速度進(jìn)行動(dòng)作，簡(jiǎn)單的機(jī)械手一般不設(shè)置專用的控制系統(tǒng)，只采納行程開關(guān)、繼電器、控制閥及電路即可實(shí)現(xiàn)動(dòng)傳動(dòng)系統(tǒng)的控制，使履行機(jī)構(gòu)按要求進(jìn)行動(dòng)作.動(dòng)作復(fù)雜的機(jī)械手則要采納可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。三、機(jī)械手的分類和特色機(jī)械手一般分為三類：第一類是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不隸屬于某一主機(jī)的裝置。它能夠依據(jù)任務(wù)的需要編制程序，以達(dá)成各項(xiàng)規(guī)定的操作。它的特色是具備一般機(jī)械的性能以外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類是需要人工才做的，稱為操作機(jī)。它發(fā)源于原子、軍事工業(yè)，先是經(jīng)過(guò)操作機(jī)來(lái)達(dá)成特定的作業(yè)，此后發(fā)展到用無(wú)線電訊號(hào)操作機(jī)來(lái)進(jìn)行探測(cè)月球等。工業(yè)中采納的鑄造操作機(jī)也屬于這一范圍。第三類是用專用機(jī)械手，主要隸屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。這類機(jī)械手在國(guó)外稱為“MechanicalHand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少量以外，工作程序一般是固定的，所以是專用的。主要特色：機(jī)械手(上下料機(jī)械手、裝置機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、真空吸吊機(jī)、省力吊具、氣動(dòng)均衡器等)。懸臂起重機(jī)(懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)均衡吊等)導(dǎo)軌式搬運(yùn)系統(tǒng)(懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī))工業(yè)機(jī)械手的應(yīng)用機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新式裝置。最近幾年來(lái)，跟著電子技術(shù)特別是電子計(jì)算機(jī)的寬泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)快速發(fā)展起來(lái)的一門新興技術(shù)，它更為促使了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)聯(lián)合。機(jī)械手固然當(dāng)前還不如人手那樣靈巧，但它擁有能不停重復(fù)工作和勞動(dòng)、不知疲憊、不怕危險(xiǎn)、抓舉重物的力量比人手大等特色，所以，機(jī)械手已遇到很多部門的重視，并愈來(lái)愈寬泛地獲得了應(yīng)用，比如：機(jī)床加工工件的裝卸，特別是在自動(dòng)化車床、組合機(jī)床上使用較為廣泛。在裝置作業(yè)中應(yīng)用寬泛，在電子行業(yè)中它能夠用來(lái)裝置印制電路板，在機(jī)械行業(yè)中它能夠用來(lái)組裝零零件?？稍趧趧?dòng)條件差，單一重復(fù)易子疲憊的工作環(huán)境工作，以取代人的勞動(dòng)。可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)等。宇宙及大海的開發(fā)。軍事工程及生物醫(yī)學(xué)方面的研究和試驗(yàn)。助力機(jī)械手：又稱均衡器、均衡吊、省力吊具、手動(dòng)移載機(jī)等，是一種無(wú)重力化手動(dòng)承載系統(tǒng)，一種新奇的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)施，屬于—種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶應(yīng)用需求，量身定制的個(gè)案創(chuàng)作?！N模擬人手操作的自動(dòng)機(jī)械，它可按固定程序抓取、搬運(yùn)物品或操勞工具達(dá)成某些特定操作。應(yīng)用機(jī)械手能夠取代人從事單一、重復(fù)或沉重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，取代人在有害環(huán)境下的手工操作，改良勞動(dòng)條件，保證人身安全。20世紀(jì)40年月后期，美國(guó)在原子能實(shí)驗(yàn)中，第一采納機(jī)械手搬運(yùn)放射性資料，人在安全室操控機(jī)械手進(jìn)行各樣操作和實(shí)驗(yàn)。50年月此后，機(jī)械手逐漸推行到工業(yè)生產(chǎn)部門，用于在高溫、污染嚴(yán)重的地方取下班件和裝卸材料，也作為機(jī)床的協(xié)助裝置在自動(dòng)機(jī)床、自動(dòng)生產(chǎn)線和加工中心中應(yīng)用，達(dá)成上下料或從刀庫(kù)中取放刀具并按固定程序改換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)構(gòu)成。手部機(jī)構(gòu)隨使用處合和操作對(duì)象而不一樣，常有的有夾持、托持和吸附等種類。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓、氣動(dòng)、電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮、旋轉(zhuǎn)和昇降等運(yùn)動(dòng)，一般有2一3個(gè)自由度。機(jī)械手寬泛用于機(jī)械製造、冶金、輕工和原子能等部門。能模擬人手和臂的某些動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物品或操作工具的自動(dòng)操作裝置。它可取代人的沉重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因此寬泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。機(jī)械手往常用作機(jī)床或其余機(jī)器的附帶裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線上裝卸和傳達(dá)工件，在加工中心中改換刀具等，一般沒(méi)有獨(dú)立的控制裝置。有些操作裝置需要由人直接操控，如用于原子能部門操勞危險(xiǎn)物品的主從式操作手也常稱為機(jī)械手。機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)構(gòu)成。手部是用來(lái)抓持工件（或工具）的零件，依據(jù)被抓持物品的形狀、尺寸、重量、資料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部達(dá)成各樣轉(zhuǎn)動(dòng)（搖動(dòng)）、挪動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物品的地點(diǎn)和姿勢(shì) 機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種擁有抓取和挪動(dòng)工件功能的自動(dòng)化妝置，它是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新式裝置。最近幾年來(lái)，跟著電子技術(shù)特別是電子計(jì)算機(jī)的寬泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)快速發(fā)展起來(lái)的一門新興技術(shù)，它更為促使了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)聯(lián)合。機(jī)械手能取代人類達(dá)成危險(xiǎn)、重復(fù)乏味的工作，減少人類勞動(dòng)強(qiáng)度，提升勞動(dòng)生產(chǎn)力。機(jī)械手愈來(lái)愈寬泛的獲得了應(yīng)用，在機(jī)械行業(yè)中它可用于零零件組裝，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更廣泛。當(dāng)前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個(gè)重要構(gòu)成部分。把機(jī)床設(shè)施和機(jī)械手共同構(gòu)成一個(gè)柔性加工系統(tǒng)或柔性制造單元，它適應(yīng)于中、小批量生產(chǎn)，能夠節(jié)儉宏大的工件輸送裝置，結(jié)構(gòu)緊湊，并且適應(yīng)性很強(qiáng)。當(dāng)工件更改時(shí)，柔性生產(chǎn)系統(tǒng)很容易改變，有益于公司不停更新適銷對(duì)路的品種，提升產(chǎn)質(zhì)量量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。而當(dāng)前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平易外國(guó)比還有一定的距離，應(yīng)用規(guī)模和家產(chǎn)化水平低，機(jī)械手的研究和開發(fā)直接影響到我國(guó)自動(dòng)化生產(chǎn)水平的提升，從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必需的。所以，進(jìn)行機(jī)械手的研究設(shè)計(jì)是特別存心義的。附件2：外文原文ManipulatorRobotdevelopedinrecentdecadesashigh-techautomatedproductionequipment.Industrialrobotisanimportantbranchofindustrialrobots.Itfeaturescanbeprogrammedtoperformtasksinavarietyofexpectations,inbothstructureandperformanceadvantagesoftheirownpeopleandmachines,inparticular,reflectsthepeople'sintelligenceandadaptability.Theaccuracyofrobotoperationsandavarietyofenvironmentstheabilitytocompletetheworkinthefieldofnationaleconomyandtherearebroadprospectsfordevelopment.Withthedevelopmentofindustrialautomation,therehasbeenCNCmachiningcenter,itisinreducinglaborintensity,whilegreatlyimprovedlaborproductivity.However,theupperandlowercommoninCNCmachiningprocessesmaterial,usuallystillusemanualortraditionalrelay-controlledsemi-automaticdevice.Theformertime-consumingandlaborintensive,inefficient;thelatterduetodesigncomplexity,requiremorerelays,wiringcomplexity,vulnerabilitytobodyvibrationinterference,whiletheexistenceofpoorreliability,faultmoremaintenanceproblemsandotherissues.ProgrammableLogicControllerPLC-controlledrobotcontrolsystemformaterialsupanddownmovementissimple,circuitdesignisreasonable,withastronganti-jammingcapability,ensuringthesystem'sreliability,reducedmaintenancerate,andimproveworkefficiency.Robottechnologyrelatedtomechanics,mechanics,electricalhydraulictechnology,automaticcontroltechnology,sensortechnologyandcomputertechnologyandotherfieldsofscience,isacross-disciplinaryintegratedtechnology.First,anoverviewofindustrialmanipulatorRobotisakindofpositioningcontrolcanbeautomatedandcanbere-programmedtochangeinmulti-functionalmachine,whichhasmultipledegreesoffreedomcanbeusedtocarryanobjectinordertocompletetheworkindifferentenvironments.LowwagesinChina,plasticproductsindustry,althoughstillalabor-intensive,mechanicalhandusehasbecomeincreasinglypopular.ElectronicsandautomotiveindustriesthatEuropeandtheUnitedStatesmultinationalcompaniesveryearlyintheirfactoriesinChina,theintroductionofautomatedproduction.Butnowthechangesarethosefoundinindustrial-intensiveSouthChina,EastChina'scoastalareas,localplasticprocessingplantshavealsoemergedinmechanicalwatchesbegantobecomeincreasinglyinterestedin,becausetheyhavetofaceahighturnoverrateofworkers,aswellasfortheworkerstopaywork-relatedinjuriesfeechallenges.WiththerapiddevelopmentofChina'sindustrialproduction,especiallythereformandopeningupaftertherapidincreaseinthedegreeofautomationtoachievetheworkpiecehandling,steering,transmissionoroperationofbrazing,spraygun,wrenchesandothertoolsforprocessingandassemblyoperationssince,whichhasmoreandmoreattractedourattention.Robotistoimitatethemanualpartoftheaction,accordingtoagivenprogram,trackandrequirementsforautomaticcapture,handlingoroperationoftheautomaticmechanicaldevices.Inreallife,youwillfindthisaproblem.Inthemachineshop,theprocessingofpartsloadingtimeisnotannoying,andlaborproductivityisnothigh,thecostofproductionmajor,andsometimesman-madeincidentswilloccur,resultinginprocessingwereinjured.Thinkaboutwhatcouldreplaceitwiththeprocessingtimeofatouraslongasthereareafewpeople,andcanoperate24hourssaturatedhumanright?Theanswerisyes,buttherobotcancometoreplaceit.Productionofmechanicalhandcanincreasetheautomationlevelofproductionandlaborproductivity;canreducelaborintensity,ensuringproductquality,toachievesafeproduction;particularlyinthehigh-temperature,highpressure,lowtemperature,lowpressure,dust,explosive,toxicandradioactivegasessuchaspoorenvironmentcanreplacethenormalworkingpeople.HereIwouldliketothinkofdesigningarobottobeusedinactualproduction.Whywouldarobotdesignedtoprovideapneumaticpower:pneumaticrobotreferstothecompressedairaspowersource-drivenrobot.Withpressure-drivenandotherenergy-drivencomparisonhavethefollowingadvantages:1.Airinexhaustible,usedlaterdischargedintotheatmosphere,doesnotrequirerecyclinganddisposal,donotpollutetheenvironment.(Conceptofenvironmentalprotection)2.Airstickissmall,thepipelinepressurelossissmall(typicallylessthanasphaltgaspathpressuredropofone-thousandth),tofacilitatelong-distancetransport.3.Compressedairoftheworkingpressureislow(usually4to8kg/persquarecentimeter),andthereforemovingthematerialcomponentsandmanufacturingaccuracyrequirementscanbelowered.4.Withthehydraulictransmission,comparedtoitsfasteractionandreaction,whichisoneoftheadvantagespneumaticoutstanding.5.Theaircleanermedia,itwillnotdegenerate,noteasytoplugthepipeline.Buttherearealsoplaceswhereitflyintheointment:1.Asthecompressibilityofair,resultinginpooraerodynamicstabilityofthework,resultingintheimplementingagenciesastheprecisionofthevelocityandnoteasilycontrolled.2.Astheuseoflowatmosphericpressure,theoutputpowercannotbetoolarge;inordertoincreasetheoutputpowerisboundtothestructureoftheentirepneumaticsystemsizeincreased.Withpneumaticdriveandcomparewithotherenergysourcesdrivehasthefollowingadvantages:Airinexhaustible,usedlaterdischargedintotheatmosphere,withoutrecyclinganddisposal,donotpollutetheenvironment.Accidentalorasmallamountofleakagewouldnotbeaseriousimpactonproduction.Viscosityofairissmall,thepipelinepressurelossalsoisverysmall,easylong-distancetransport.Thelowerworkingpressureofcompressedair,pneumaticcomponentsandthereforethematerialandmanufacturingaccuracyrequirementscanbelowered.Ingeneral,reciprocatingthrustin1to2tonspneumaticeconomyisbetter.Comparedwiththehydraulictransmission,anditsfasteractionandreaction,whichisoneoftheoutstandingmeritsofpneumatic.Cleanairmedium,itwillnotdegenerate,noteasytoplugthepipeline.Itcanbesafelyusedinflammable,explosiveandthedustbigoccasions.Alsoeasytorealizeautomaticoverloadprotection.Second,thecomposition,mechanicalhandRobotintheformofavarietyofforms,somerelativelysimple,somemorecomplicated,butthebasicformisthesameasthecompositionofthe,Usuallybytheimplementingagencies,transmissionsystems,controlsystemsandauxiliarydevicescomposed.1.ImplementingagenciesManipulatorexecutingagencybythehands,wrists,arms,pillars.Handsarecrawlinginstitutions,isusedtoclampandreleasetheworkpiece,andsimilartohumanfingers,tocompletethestaffingofsimilaractions.Wristandfingersandthearmconnectingthecomponentscanbeupanddown,left,androtarymovement.Asimplemechanicalhandcannotwrist.Pillarsusedtosupportthearmcanalsobemademobileasneeded.TransmissionTheactuatortobeachievedbythetransmissionsystem.Sub-transmissionsystemcommonlyusedmanipulatormechanicaltransmission,hydraulictransmission,pneumaticandelectricpowertransmissionandotherdriveseveralforms.ControlSystemManipulatorcontrolsystem'smainroleistocontroltherobotaccordingtocertainprocedures,direction,position,speedofaction,asimplemechanicalhandisgenerallynotsetupadedicatedcontrolsystem,usingonlytripswitches,relays,controlvalvesandcircuitscanbeachieveddynamicdrivesystemcontrol,sothatimplementingagenciesaccordingtotherequirementsofaction.Actionwillhavetousecomplexprogrammablerobotcontroller,themicro-computercontrol.Three,mechanicalhandclassificationandcharacteristicsRobotsaregenerallydividedintothreecategories:thefirstisthegeneralmachinerydoesnotrequiremanualhand.Itisanindependentnotaffiliatedwithaparticularhostdevice.Itcanbeprogrammedaccordingtotheneedsofthetasktocompletetheoperationoftheprovisions.Itischaracterizedwithordinarymechanicalperformance,alsohasgeneralmachinery,memory,intelligenceternarymachinery.Thesecondcategoryistheneedtomanuallydoit,calledtheoperationofaircraft.Itoriginatedintheatom,militaryindustry,firstthroughtheoperationofmachinestocompleteaparticularjob,andlaterdevelopedtooperateusingradiosignalstocarryoutdetectingmachinessuchastheMoon.Usedinindustrialmanipulatoralsofallintothiscategory.Thethirdcategoryisdedicatedmanipulator,themainsubsidiaryoftheautomaticmachinesorautomaticlines,tosolvethemachineupanddowntheworkpiecematerialanddelivery.Thismechanicalhandinforeigncountriesknownasthe"MechanicalHand",whichisthehostofservices,fromthehost-driven;exceptionofafewoutsidetheworkingproceduresaregenerallyfixed,andthereforespecial.Mainfeatures:First,mechanicalhand(theupperandlowermaterialrobot,assemblyrobot,handlingrobot,stackingrobot,helprobot,vacuumhandlingmachines,vacuumsuctioncrane,labor-savingspreader,pneumaticbalancer,etc.).Second,cantilevercranes(cantilevercrane,electricchainhoistcrane,airbalancethehanging,etc.)Third,rail-typetransportsystem(hangingrail,lightrail,singlegirdercranes,double-beamcrane)Four,industrialmachinery,applicationofhandManipulatorinthemechanizationandautomationoftheproductionprocessdevelopedanewtypeofdevice.Inrecentyears,aselectronictechnology,especiallycomputerextensiveuseofrobotdevelopmentandproductionofhigh-techfieldshasbecomearapidlydevelopedanewtechnology,whichfurtherpromotedthedevelopmentofrobot,allowingrobottobetterachievedwiththecombinationofmechanizationandautomation.Althoughtherobotisnotasflexibleasstaff,butithastothecontinuousduplicationofworkandlabor,Idonotknowfatigue,notafraidofdanger,thepowersnatchweightcharacteristicswhencomparedwithmanuallarge,therefore,mechanicalhandhasbeenofgreatimportancetomanysectors,andincreasinglyhasbeenappliedwidely,forexample:Machiningtheworkpieceloadingandunloading,especiallyintheautomaticlathe,combinationmachinetooluseismorecommon.Intheassemblyoperationsarewidelyusedintheelectronicsindustry,itcanbeusedtoassembleprintedcircuitboards,inthemachineryindustryItcanbeusedtoassemblepartsandcomponents.Theworkingconditionsmaybepoor,monotonous,repetitiveeasytosub-fatigueworkingenvironmenttoreplacehumanlabor.Maybeindangeroussituations,suchasmilitarygoodshandling,dangerousgoodsandhazardousmaterialsremovalandsoon.Universeandoceandevelopment.,militaryengineeringandbiomedicalresearchandtesting.Helpmechanicalhands:alsoknownasthebalancer,balancesuspended,labor-savingspreader,manualTransfermachineisakindofweightlessnessofmanualloadsystem,anovel,time-savingtechnologyformaterialhandlingoperationsboosterequipment,belongingtokindsofnon-standarddesignofseriesproducts.Customerapplicationneeds,creatingcustomizedcases.Manualoperationofasimulationoftheautomaticmachinery,itcanbeafixedprogramdraws、handlingobjectsorperformhouseholdtoolstoaccomplishcertainspecificactions.Applicationofrobotcanreplacethepeopleengagedinmonotonous、repetitiveorheavymanuallabor,themechanizationandautomationofproduction,insteadofpeopleinhazardousenvironmentsmanualoperation,improvingworkingconditionsandensurepersonalsafety.Thelate20thcentury,40,theUnitedStatesatomicenergyexperiments,thefirstuseofradioactivematerialhandlingrobot,humanrobotinasaferoomtomanipulatevariousoperationsandexperimentation.50yearslater,manipulatorandgraduallyextendedtoindustrialproductionsector,forthetemperatures,pollutedareas,andloadingandunloadingtotakeplacetheworkpiecematerial,butalsoasanauxiliarydeviceinautomaticmachinetools,machinetools,automaticproductionlinesandprocessingcenterapplications,thecompletionoftheupperandlowermaterial,orFromthelibrarytakeplaceknifeknifeandsoonaccordingtofixedproceduresforthereplacementoperation.Robotbodymainlybythehandandsportsinstitutions.Agencieswiththeuseofhandsandoperationofobjectsofdifferentoccasions,oftenthereareclamping、supportandadsorptiontypeofcare.Movementorgansaregenerallyhydraulicpneumatic、、electricaldevicedrivers.Manipulatorcanbeachievedindependentlyretractable、rotationandliftingmovements,generally2to3degreesoffreedom.Robotsarewidelyusedinmetallurgicalindustry,machinerymanufacture,lightindustryandatomicenergysectors.Canmimicsomeofthestaffandarmmotorfunction,afixedprocedureforthecapture,handlingobjectsoroperatingtools,automaticoperationdevice.Itcanreplacehumanlaborinordertoachievetheproductionofheavymechanizationandautomationthatcanoperateinhazardousenvironmentstoprotectthepersonalsafety,whichiswidelyusedinmachinerymanufacturing,metallurgy,electronics,lightindustryandnuclearpowersectors.Mechanicalhandtoolsorotherequipmentcommonlyusedforadditionaldevices,suchastheautomaticmachinesorautomaticproductionlinehandlingandtransmissionoftheworkpiece,thereplacementofcuttingtoolsinmachiningcenters,etc.generallydonothaveaseparatecontroldevice.Someoperatingdevicesrequiredirectmanipulationbyhumans;suchastheatomicenergysectorperformshouseholdhazardousmaterialsusedinthemaster-slavemanipulatorisalsooftenreferredtoasmechanicalhand.Manipulatormainlybyhandandsportsinstitutions.Taskofhandisholdingtheworkpiece(ortool)components,accordingtograspingobjectsbyshape,size,weight,materialandoperationalrequirementsofavarietyofstructuralforms,suchasclamptype,typeandadsorption-basedcaresuchasholding.Sportsorganizations,sothatthecompletionofavarietyofhandrotation(swing),