機(jī)械手外文文獻(xiàn)翻譯、中英文翻譯、外文翻譯

PAGEPAGE6Mechanicalhandmechanicalhand,isalsocalledfrombegins,autohandcanimitatethemanpowerandarm'scertainholdingfunction,withbypressesthefixedroutinetocapture,thetransportingthing'OR'operationtool'sautomaticoperationinstallment.Itmayreplaceperson'sstrenuouslabortorealizetheproductionmechanizationandtheautomation,canoperateunderthehostileenvironmentprotectsthepersonalsafety,thuswidelyappliesindepartmentsandsoonmachinemanufacture,metallurgy,electron,lightindustryandatomicenergy.themanipulatorismainlycomposedofthehandandthemotion.Thehandisusesfortograspholdstheworkpiece(ortool)thepart,accordingtoisgraspedholdsthethingshape,thesize,theweight,thematerialandtheworkrequesthasmanykindsofstructuralstyles,liketheclamp,therequestholdandtheadsorptionandsoon.Themotion,causesthehandtocompleteeachkindofrotation(swinging),themigrationorthecompoundmotionrealizesthestipulationmovement,changesisgraspedholdsthethingpositionandtheposture.Motion'sfluctuation,theexpansion,revolvingandsoonindependencemovementway,iscalledmanipulator'sdegree-of-freedom.Inordertocaptureinthespacetheoptionalpositionandthepositionobject,musthave6degrees-of-freedom.Thedegree-of-freedomisthekeyparameterwhichthemanipulatordesigns.Thedegree-of-freedomaremore,manipulator'sflexibilityisbigger,theversatilityisbroader,itsstructureisalsomorecomplex.Generallythespecial-purposemanipulatorhas2~3degrees-of-freedom.themanipulator'stype,maydivideintothehydraulicpressuretype,theairoperatedaccordingtothedrivetype,electromotivetype,themechanicalmanipulator;Maydivideintothespecial-purposemanipulatorandthegeneral-purposemanipulatortwokindsaccordingtotheapplicablescope;Maydivideintothepositioncontrolandthecontinuouspathaccordingtothepathcontrolmodecontrolsthemanipulatorandsoon.themanipulatorusuallyservesastheenginebedorothermachine'sadd-oncomponent,likeontheautomaticmachineortheautomaticproductionlineloadingandunloadingandthetransmissionworkpiece,replacesthecuttingtoolinthemachiningcenterandsoon,generallydoesnothavetheindependentcontroldevice.Someoperatingequipmentneedsbythepersondirectcontrol,ifusesinthehostwhotheatomicenergydepartmentmanagesthedangerousgoodsfromthetypeoperatoralsooftenbeingcalledthemanipulator.Modernindustrialrobotsaretruemarvelsofengineering.Arobotthesizeofapersoncaneasilycarryaloadoveronehundredpoundsandmoveitveryquicklywitharepeatabilityof+/-0.006inches.Furthermoretheserobotscandothat24hoursadayforyearsonendwithnofailureswhatsoever.Thoughtheyarereprogrammable,inmanyapplications(particularlythoseintheautoindustry)theyareprogrammedonceandthenrepeatthatexactsametaskforyears.Asix-axisrobotliketheyellowonebelowcostsabout$60,000.WhatIfindinterestingisthatdeployingtherobotcostsanother$200,000.Thus,thecostoftherobotitselfisjustafractionofthecostofthetotalsystem.Thetoolstherobotusescombinedwiththecostofprogrammingtherobotformthemajorpercentageofthecost.That'swhyrobotsintheautoindustryarerarelyreprogrammed.Iftheyaregoingtogototheexpenseofdeployingarobotforanothertask,thentheymayaswelluseanewrobot.Thisisprettymuchthetypicalmachinepeoplethinkofwhentheythinkofindustrialrobots.Fanucmakesthisparticularrobot.Fanucisthelargestmakerofthesetypeofrobotsintheworldandtheyarealmostalwaysyellow.Thisrobothassixindependentjoints,alsocalledsixdegreesoffreedom.Thereasonforthisisthatarbitrarilyplacingasolidbodyinspacerequiressixparameters;threetospecifythelocation(x,y,zforexample)andthreetospecifytheorientation(roll,yaw,pitchforexample).Ifyoulookcloselyyouwillseetwocylindricalpistonsonthesideoftherobot.Thesecylinderscontain"anti-gravity"springsthatareabigpartofthereasonrobotslikethesecancarrysuchheavyloads.Thesespringscounter-balanceagainstgravitysimilartothewaythespringsonthegaragedoormakeitmucheasierforapersontolift.Youwillseerobotslikethesewelding,paintingandhandlingmaterials.TherobotshownatrightismadebyanAmericancompany,AdeptTechnology.AdeptisAmerica'slargestrobotcompanyandtheworld'sleadingproducerofSCARArobots.Thisisactuallythemostcommonindustrialrobot.SCARAstandsforSelectiveComplianceArticulated(thoughsomefolksuseAssemblyhere)RobotArm.Therobothasthreejointsinthehorizontalplanethatgiveitx-ypositioningandorientationparalleltotheplane.Thereisonelinearjointthatsuppliesthezpositioning.Thisisthetypical"pickandplace"robot.Whencombinedwithavisionsystemitcanmoveproductfromconveyorbelttopackageataveryhighrateofspeed(think"Lucyandthecandies"butwayfaster).Therobot'sjointstructureallowsittobecompliant(orsoft)toforcesinthehorizontalplane.Thisisimportantfor"peginhole"typeapplicationswheretherobotwillactuallyflextomakeupforinaccuraciesandallowverytightpartfits.ThemachineatleftcanbecalledaCartesianrobot,thoughcallingthismachinearobotisreallystretchingthedefinitionofarobot.ItisCartesianbecauseitallowsx-y-zpositioning.Threelinearjointsprovidethethreeaxesofmotionanddefinethex,yandzplanes.Thisrobotissuitedforpickandplaceapplicationswhereeithertherearenoorientationrequirementsorthepartscanbepre-orientedbeforetherobotpicksthemup(suchassurfacemountedcircuitboardassembly)..simpleoneofmostusefulorganizationsisfourpoleorganizations.Inonfollowingelaborationmajorityofcontentcentralismdiscussionlinkmotiongear,butthisprocedureisalsosuitableforthemorecomplexlinkmotiongear.Wealreadyknewfourpoleorganizationshaveadegreeoffreedom.Aboutfourpoleorganizations,hastheusefulmorecontentswhichmustknow?Indeedissome!ThesepulltheXiaohusbandcriterionincludingthestandard,thetransformationconcept,theblindspotposition(divergencepoint),branchoffice,transmissionangle,withtheirsmovementcharacteristic,includingposition,speedandacceleration.Fourpoleorganizationsmayhaveonekindofbeingcalledascrankrockerorganizationform,onekindofdoublerockingleverorganization,onekindofdoublecrank(tensionbar)doestheorganization,whichoneformsendiniscalledastheorganization,isdecidedintwopolemovementscopeswhich(fixedcomponent)connectswiththerack.Thecrankrockerorganizationinputcomponent,thecrankmayrevolvethrough360°andthecontinuousrotation,butoutputsthecomponenttomaketheundulationmerely(i.e.swingmember).Asanexceptionalcase,intheparallelfourpoleorganization,inputsthepolethelengthtobeequaltooutputsthepolethelength,thego-betweenlengthandthefixedlink(rack)length,alsoisequal.Itsinputandtheoutputallmaymakethecompletealternationrotationortransformthebeingcalledasantiparallelquadrangleorganizationtheoverlappingstructure.ThestandardpullstheXiaohusbandcriterion(theorem)toindicatethat,Ifinfourpoleorganizations,betweentwopolescandowillfullyrelativelyrotatescontinuously,that,itslongestpolelengthissmallerthansumofwiththeshortestpolelengthorisequaltosumoftheothertwopolelength.Shouldpayattention:Thesamefourpoleorganization,mayhavethedifferentform,whichpoleisthisdecidedinwasstipulated(i.e.makesfixedlink)astherack.Themovementtransformationprocessisinthefixedorganizationtransmissionchaindifferentmemberhasthedifferentorganizationrateprocess.Besideshasaboutthecomponentrotationscopeknowledge,butalsomusthavehowcausestheorganizationbeforethemanufactureonenergy“therevolution”thegoodmeasure,thatwillbeveryuseful.Hardenbergh(Hartenberg)speaksof:“Therevolution”isterminology,itssignificancepassestooutputsthecomponentthemovementvalidity.Itmeanttherevolutionissteady,inwhichcaninoutputinthecomponenttohaveastrengthorthetorquebiggestforcecomponentiseffective.Notonlyalthoughthefinaloutputstrengthorthetorquearetheconnectingrodgeometricfigurefunctions,moreoveralsoisgenerallythepowerortheforceofinertiaresult,thatisfrequentlybigtolikestaticstrengthseveraltimes.Inordertoanalyzetheidlingorinordertoeasytoobtainhowcancauseanyorganization“therevolution”theindex,thetransmissionangleconceptisextremelyuseful.Inorganizationmovementperiod,thetransmissionanglevalueischanging.Thetransmissionangle0°mayoccurinthespecialposition.Willoutputthepolebutinthisspecialpositionthemovementwithnottoexertinputsonthepolethestrengthmanytohavenothingtodowithgreatly.Infact,asaresultofthemovementvice-frictioninfluence,thegeneralbasispracticalexperience,withthetransmissionangleplanningboardwhichisbiggerthantherating.Theweightlinkmotiongeartransmissionmovementabilitymatrixfoundationdefinitionalreadystudied.Adeterminingfactorvalue(itincludesregardingsomeassignsorganizationgraph,positionoutputmovementvariabletoinputvariablederivative)isathislinkmotiongearinconcretepositionmobilitycriterion.Iftheorganizationhasadegreeoffreedom(e.g.fourpoleorganizations),thenstipulatedalocationparameter,iftheinputangle,completelydeterminedthisorganizationstopsposition(neglectbranchoffice'spossibility).Wemaystudyoneaboutfourpoleorganizationcomponentabsoluteangularpositionanalysisexpression.Whenanalyzescertainpositionsand(or)certaindifferentorganizationtime,thiswillbemustbemuchmoreusefulthanthegeometricfigureanalysisprogram,becausethisexpressionwillcausetheautomatedcomputationeasytoprogram.Therealizationorganizationspeedanalysisrelativevelocitylawisthespeedpolygonisoneofseveraleffectivemethods.Thisend(goesagainst)thespottorepresentontheorganizationallspots,hasthezerospeed.Fromthisthelinewhichstipplesrespectivelytothespeedpolygoninisrepresentingtheabsolutespeedwhichthisorganizationphotographwellshouldselectrespectively.Inalineconnectionspeedpolygonrandomtwopointsrepresentsistakingonthisorganizationtwocorrespondingspotrelativevelocity.Othermethodistheinstantaneouscenterlaw,namelytheinstantaneouscenterlaw,thismethodisextremelyusefulmoreoverisfrequentlywhenthecomplexlinkmotiongearanalysisquickmethod.Theinstantaneouscenterisaspot,thisspotinthatflash,onbetweentheorganizationtwocomponentsdoesnothavetherelativemotion.Inordertodiscoverknownorganizationcertaininstantaneouscenterstheposition,Kennedythe(Kennedy)threecentertheoriesextremelyareuseful.Itissaidthat,Eachotherrelativemotionthreeobjectthreeinstantaneouscentersaresurelyinastraightline.Theorganizationvariouscomponentsaccelerationismakesonebeinterested,becauseitaffectstheforceofinertia,subsequentlyaffectsthemachinepartthestress,thebearingload,thevibrationandthenoise.Becausethefinalgoalisthemachineandtheorganizationforceofinertiaanalysis,theallaccelerationvariouscomponentsallshouldthedisposablepicture--intheorganizationfixedcomponentinertialcoordinatesystemexpressintheidenticalcoordinatesystem.Shouldpayattention:Isoppositeinrotatesonthevice-rotationrigidbodyanaccelerationcomponentusuallytohavetwofixedly.Aforcecomponentdirectioncutsinthispath,itsdirectionissamewiththisobjectangleaccelerationdirection,andiscalledthetangentialacceleration.Itsexistenceiscompletelybecausetheangularspeedrateofchangecauses.Anothercomponent,alwaysaimsattheobjectthecenterofrotation,iscalledthestandardthecentripetalacceleration,becausethiscomponentthevelocityvectordirectionhasthechangetoexist.ThemovementcomprehensiveGanizationisformsmanymechanismsthebasicgeometrystructuralunits,thesemechanismsincludingautomaticpackaging,printer,mechanicaltoy,textilemachineryandothermachineriesandsoon.Thetypicalorganizationmustdesigncausesthemovementwhichtherigidcomponentrelativedatumcomponentproduceshoped.Theorganizationmovementdesignisthemovementsynthesis,firststepfrequentlydesignstheentiremachinefirst.Whenconsiderationstress,mustaskdynamicsaspectquestion,thebearingload,thestress,thelubricationandsoonthesimilarquestion,butthemajorproblemisthemachinestructurequestion..Themovementscientistdefinesthekinematicsas“thedevelopmentfacilitymovementandthefoundationorganizationmethod”.Thisdefinitionfirstpartinvolvesthekinematicanalysis.Theknownorganization,itsconstitutionstateofmotiondeterminedbythekinematicanalysis.Thenarrationmovementanalysisdutycontainstheorganizationbetweenthemaindimension,thecomponentlinksmutuallywiththeinputmovementtechnicalcharacteristicortheactuationmethod.Thegoalismustdiscoverthedisplacement,thespeed,theacceleration,theimpactorthebeat(twostepaccelerations),withvariouscomponentshigherorderaccelerationwhichpossiblyoccursaswellasdescribesthediametermarkandthemovementwhichrealizesbycertaincomponents.Thedefinitionsecondpartofavailablefollowingtwoaspectexplained：1.researchproduceswiththeaidoftheorganizationassignsthemovementthemethod.2.researchconstructiontobeabletoproduceassignsthemotionthemethod,butintwoplans,themovementisassignstheorganizationisthefoundation.Thisisthemovementsynthesisessence.Suchmovementsynthesisinvolvestoforassignstheperformancetheorganizationsystemdesign.Themovementsynthesisaspectmaysumupasfollowingtwokinds:1.typesarecomprehensive.Thestipulationrequeststheperformance,howisonekindoftypeorganizationappropriate?(Toothgeartrain,linkmotiongear?Camgear?)Howmanycomponentsbutshouldtheorganizationhave?Howmanydegreesoffreedomneeds?Howoutlinestructureishoped?.Aboutthemembernumberandthedegreeoffreedomconsiderationwasusuallyconsideredisinthetypesynthesisisbeencalledasforaquantitysynthesisbranchdomain.2.sizesarecomprehensive.Themovementsynthesissecondpredominanttypeisthebestmethodwhichdeterminedthroughthegoallaw.Thesizesynthesisattemptstodeterminetheorganizationtheimportantsizeandthestartingposition,thisorganizationisconceivesbeforehandfortherealizationstipulationdutyandtheanticipatedperformance.Oftheso-calledimportantsizemeaningsarereferabouttwopoles,threepolesandsoonbetweenthelengthorthepoleareawayfrom,anglebetweennumberofarticlesandspoolthread,camcontoursize,camfollowerdiameter,eccentricity,gearquotaandsoon.Expectedtheorganizationtypepossiblyisthecrankslideorganization,fourpoleorganizations,thetapereelfromthemovingpartscamgear,butorisnon-hassomekindofstructureshapemorecomplexlinkmotiongearbecausebytheanalysissitusmethodwhichtheinferioranalyticmethoddetermined.Iscomprehensiveregardingthemovement,intheconventionhasthreeduties:Functionproduction,pathproductionandmovementproduction..Inputsandoutputsthecomponentinthefunctionproductionorganizationtherotationorthemigrationmustbetheinterdependence.Regardingarbitraryfunctiony=f(x),amovementsynthesisdutypossiblyisdesignsalinkmotiongeartocausetheinputandtheoutputestablishestherelationsinordertocauseinthexo<x<xn-1scopetoinputaccordingtoxmovement,butoutputsaccordingtothey=f(x)movement.Intheinputandintheoutputgyroscopicmotionsituation,thecornerphiandphirespectivelyisxandtheylinearsimulation.Wheninputsrotatestoanindependencexvalue,inone“blackbox”intheorganization,causestooutputwhichthecomponenttochangetocorrespondsinthevaluewhichbyfunctiony=f(x)decided.Thismayconsideristhemechanicalanalogycomputersimplesituation.Eachkindofdifferentorganizationallmaycontaininthis“theblackbox”in,howeverproducesregardingthearbitraryfunctionnon-error,fourpoleorganizationsarehelpless,possiblymatchesmerelyinthelimitedprecisionwithit.Itwidelyusesintheindustry,becausefourpoleorganizationsintheconstructionandtheserviceallaresimple.Inthepathproductionorganization,in“floatsthewalkingbeam”onaspottohavetodrawonetobeoppositeinafixedcoordinatesystemdeterminationpath.Ifthispathspotisbothmustandhavetoberelatedwiththetimecorrelationwiththeposition,thisdutyiscalleditthepredeterminedcyclicalpathproduction.Apathproductionorganizationexampleisthedesignthrowsthebaseballorthetennisfourpoleorganization.Inthiscase,willselectPthepathwillbethis:Picksaballinthepredeterminedposition,andtransmitsinthepredeterminedtimecyclealongthepredetermineddiametermarktheball,canachievetheappropriatespeedandthedirection.Inthemechanismdesignhasmanysituations,bothmustguidetherigidbodyinthesesituationsthroughaseriesofstipulations,theindependentpositionwhichlimits,andmustlimitinthereductionwhenindependentpositionnumber,tothevehiclespeedand(or)theaccelerationrestrains,thatisnecessary.Movementproductionorrigidbodyguidingorganizationrequest:Acompleteobjectmustguidepassesapredeterminedmovementsequence.Tooktheobjectwhichguidesusuallyis“thefluctuationcomponent”notonlyapart,thatisthetargetpointPpath,alsoisandinsertsinthisobjectthroughthisspotthelinerotation.Forexample,thispossiblyrepresentsintheautomatedmachineryacarrier,butthathasapredeterminedpathinacarrieronspotthiscarrieralsotohaveapredeterminedangleposition.Thepredeterminedwaychargercablewaybucketmovementisthemovementproductionorganizationanotherexample.Thecablewaybucketendpathhasthelimit.Becauseitsportmustrealizetheexcavationpath,isfollowingcloseonthepathwhichmustrealizepromotesandfallsintorrents.Thecablewaybucketanglepositiontoguaranteedfightsthematerialtofallintorrentsfromthecorrectpositionsimilarlyis(butactually)important.ThecamandthegearcamgearischangesonekindofmovementChengLingonekindofmovementtheconvenienceinstallment.Thiskindofmachineparthasthecurvedsurfaceorthetroughsurface,thiscurvedsurfaceorthetroughsurfacewithpassestofromthemovingpartsappropriatematchmergethemovementfromthemovingparts.Thecammovement(usuallyisrotation)istransmittedfordoesfromthemovingpartstheundulationorthemigration,orbothhave.Becausevariousgeometricsolidandthemassivecamswithunifyfromthemovingparts,thereforethecamisonekindofextremelynumerousfunctionmulti-purposemachineparts.Althoughthecamandfromthemovingpartsmayforthemovement,thepathandthefunctionproductiondesigns,butitmainlyisusesinusingthecamandtakesthefunctionproductioncomponentfromthemovingparts.Accordingtothecamshape,themostuniversalcamtypeis:Disctransmissioncam(twodimensional,namelyplane)andcylindricalcam(threedimensional,namelyspace)organization.Mayuseseveralmethodsfromthemovingpartstoclassify:Accordingtofromthemovingpartsmovement,forexamplethemigrationortheundulationclassifies,accordingtothetranslationtype(straightline)fromthemovingpartsmovementisalongtheradialdirectionfromthecamshaftcenterbiasandthebasisfromthemovingpartscontactfaceshape(forinstanceplane,rollarounds,spot--knifepointtype,sphericalsurface,planecurveorspace-likesurface).Regardingonetothehearttranslationrollerfromthemovingpartsdiskcam,maydrawandcamsurfacecontactingalsowiththewheelaxleconcentricmostsmallcircleisthebasecircle.Thefollowerspotproducesthepitchlinerollaroundscenterspot.Theangleofpressureistherollercenterpathcourselineandpassestherollaroundscenterbetweenthepitchlinenormalincludedanglemoreoveristhetransmissionanglecoangle.Theneglectfrictionalinfluence,thisnormaldirectionwiththecamwithfromthemovingpartsthecontactforcedirectionisthesuperpositionconsistent.Inalinkmotiongear,theangleofpressurethechangeispreciselylikelythecamtransmitsinthecirculationgeneratingprocessthemovementactiononekindofmeasurementwhichgoesfromthemovingparts.Thebigangleofpressurewillproduceexertsfromthemovingpartspolesideforce,becauseofthefrictionforceexistence,thatinevitablywilllimitfromthemovingpartsintheguidechannel.Needtheintermittentmotioninautomatedmachinerymanyapplications.Assoonasatypicalexamplewillrequestonetoincludetherisetostandstillareturnsandthepossibleanotheridletimecycle,eachstagewillpassthroughtheanglewhichwillassign,willfollowaninstitutetorequestfromthemovingpartsdisplacement,thisdisplacementorwillmeasurebythecentimeter.Designer'sworkdesignsthiscamcorrespondingly.Firstmustdothedecision-makingismustchoosethecamfromthemovingpartstype.Thestipulationapplicationpossibletorequestthecamandunifiesfromthemovingparts.Transformsincludesforpolicy-makingcertainfactors:Geometryshapecondition,dynamiccondition,environmentalconditionandeconomicagent.Oncethecamwithwasdesignatedfromthemovingpartsmovementvice-type,thensurelydesignatedfromthemovingpartsmovement.Therefore,thespeed,theaccelerationandincertainsituations,reallyaretheextremefromthemovingpartsdisplacementfurtherplantobeimportant.Thegearisdrawssupportingearteethsuccessmeshingtransmitsthemovementthemachinepart.Gearfromagyro-axletoanothergyro-axletransmissionmovementortransmissionmovementtoatransmissionrack.Inthemostapplicationsall(oroftendecidestorquebytheconstantangletransmissionratiotocompare)exists.Intheconstantangletransmissionratioapplicationissurelytheaxialtransmission.Invarioususefulgeartypefoundation,theinputaxisandtheoutputshaftneedorneedparallelmutuallyinastraightlineallnotanylimit.Becauseusesthenon-roundgear,thenon-linearangletransmissionratioalsoisveryuseful.Inordertomaintaintheconstantangularspeed,eachgeartoothprofilemustobeythegearmeshingthebasicrule:Inordertoapairoftoothcantransmittheconstantangletransmissionratio,theycontactthetoothprofiletheshapetohavetobemustlikethis:Thecommonnormalpassesintwogearcentersegmentthefixedpoint.Satisfiesthemeshingbasicruletwomeshingtoothprofiletobecalledtheconjugatetoothprofile.Althoughhasmanysatisfiesmeshesthetoothpossibletoothprofiletobeabletodesign,satisfiesthebasicmeshingrule,butonlyhastwokindstousegenerally:Cycloidtoothprofileandinvolutetoothprofile.Hascertainimportantmeritsinvolute:Butiteasytoprocessbetweenthemanufactureandapairofinvolutegearcenterdistancemaychangedoesnotchangethetransmissionratio,whenusestheinvolutetoothprofile,butdoesnotrequestbetweenthepreciseaxisthecommondifference.Someseveralkindofstandardgearsmaysupplytoselect.Inordertoappliesundertheparallelaxiscondition,usuallyusesthestraighttoothcylindricalgears,parallelaxletiltgearorherringbonetoothgear.Usesthestraightbevelgearorthehelicalgearintheintersectionaxissituation.Regardingthenon-intersectionaxisandthenon-parallelgearshafttransmission,willinterlocktheaxishelicalgear,thewormbearingadjusterwormgear,theendsurfacegear,theskewedtoothbevelgearortheaccuratehyperboloidgearisselected.Regardingthestraighttoothcylindricalgears,thecountergearfestivalcircleiseachothercontacting.Theyrollmutuallydonothavetheglide.Thegearaddendumisthegearteethstretchesoutsurpassesthefestivalcircle(alsoishighlybetweenfestivalcircleandaddendumcircleinradialdirectiondistance).Goesagainstthecrackisassignsthetooththededendum(inthefestivalcirclefollowingtoothdepth)tobebiggerthanthegeargearaddendumquantitywhichmesheswithit(interpolation).Thetooththickisalongthefestivalroundcirculararcinthecrosstoothdistance,butthetoothspacing(socketS)isalongthefestivalroundcirculararcintheneighboringtwospacebetweenteethspacelength.Butthetoothsideclearanceisbiggerthanitscountergearinfestivalcircletooththickinterpolationinthefestivalcirclesocketwidth..fastenwiththejointcomponentstypicalmethodincludingtheusesuchasbolt,thecapnut,thecapscrew,thesetscrew,therivet,thelockinginstallmentandthekey.Thecomponentsalsomayusethemelttoweld,thebrazeandtheclampconnection.Andthemetalworkingcraftresearchincludesfrequentlyintheengineeringplatstudyabouteachkindofconnectionmethodexplanation,verymuchisinterestedregardingthisintheproject,intellectualcuriositystronganybodycanobtainnaturallyaboutfastensinthemethodthegoodelementaryknowledge..機(jī)械手能模仿人手和臂的某些動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(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，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門(mén)。機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來(lái)抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(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)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)。運(yùn)動(dòng)機(jī)構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨(dú)立運(yùn)動(dòng)方式，稱(chēng)為機(jī)械手的自由度。為了抓取空間中任意位置和方位的物體，需有6個(gè)自由度。自由度是機(jī)械手設(shè)計(jì)的關(guān)鍵參數(shù)。自由度越多，機(jī)械手的靈活性越大，通用性越廣，其結(jié)構(gòu)也越復(fù)雜。一般專(zhuān)用機(jī)械手有2～3個(gè)自由度。機(jī)械手的種類(lèi)，按驅(qū)動(dòng)方式可分為液壓式、氣動(dòng)式、電動(dòng)式、機(jī)械式機(jī)械手；按適用范圍可分為專(zhuān)用機(jī)械手和通用機(jī)械手兩種；按運(yùn)動(dòng)軌跡控制方式可分為點(diǎn)位控制和連續(xù)軌跡控制機(jī)械手等。機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，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縱，如用于原子能部門(mén)操持危險(xiǎn)物品的主從式操作手也常稱(chēng)為機(jī)械手?，F(xiàn)代工業(yè)機(jī)器人是真正的奇跡工程。一個(gè)像人一樣大小的機(jī)器人可以輕松地隨身攜帶負(fù)載百磅，并很快地重復(fù)性移動(dòng)+/-0.006英寸。此外這些機(jī)器人可以做到?jīng)]有失敗的一天24小時(shí)的連續(xù)工作幾年。盡管它們是可以改編的，在許多應(yīng)用中（特別是在汽車(chē)行業(yè)），他們是一次編程，然后多年重復(fù)相同的任務(wù)。六軸機(jī)器人像Fanuc的黃一個(gè)低于成本約為六萬(wàn)美元。我認(rèn)為有趣的是，部署機(jī)器人的