【正文】 條件要求高。它是由三個基本構件構成的，帶凸緣的環(huán)形剛輪，杯形的柔輪和柔性軸承、橢圓盤構成的波發(fā)生器。螺釘5通過壓圈3施加軸向力時，由于錐環(huán)之間的楔緊作用，內(nèi)外環(huán)2分別產(chǎn)生徑向彈性變形，消除軸4與套筒1之間的配合間隙，并產(chǎn)生接觸壓力，通過磨擦傳遞轉(zhuǎn)矩，而且套筒1與軸4之間的角度位置可以任意調(diào)節(jié)。因此，機器人控制系統(tǒng)也是一個計算機控制系統(tǒng)。對工業(yè)機器人的控制功能大致有如下的基本要求和特點。2）連續(xù)軌跡控制方式（CP控制） 這種控制方式要求末端執(zhí)行器嚴格按規(guī)定的軌跡和速度在一定精度要求內(nèi)運動，以完成作業(yè)要求，這種必須保證機器人各關節(jié)連續(xù)、同步地實現(xiàn)相應的運動。使工業(yè)機器人按照存儲的示教內(nèi)容進行動作，稱為再現(xiàn)。第一級機擔負管理，示教編程，控制再現(xiàn)，軌跡正逆運算，機器人語言的編輯和編譯，通過串行通訊方式傳送給二級機做位置給定。 二級機接口電路將計算機輸出數(shù)字量轉(zhuǎn)換成相應的模擬量，驅(qū)動伺服控制系統(tǒng)，選用速度單元，伺服電機及光電編碼盤等伺服調(diào)速系統(tǒng)。 在機器人應用工程中，要參照有關規(guī)程、規(guī)范以及工業(yè)機器人的說明資料，注意落實安全措施，杜絕發(fā)生機器人傷人或其它事故。此外，除了通用的工業(yè)安全規(guī)程外，還要注意工業(yè)機器人的特殊性，采取相應可靠的對策。只有拔下開關的插頭，才能打開對應的門。d、 在人機結合部設置傳感器。f、 設置工業(yè)機器人的作業(yè)的作業(yè)原點，并在生產(chǎn)系統(tǒng)的操作盤上設置相應的指示燈，使操作者容易判斷工業(yè)機器人本體的位置狀態(tài)。例如，用軟極限的功能可設定工業(yè)機器人操作機（本體）的實際動作小于標稱最大動作范圍。為了確保工業(yè)機器人應用工程中的安全，必須實施確保安全要求的具體措施。在設計過程中，我經(jīng)常遇到各種各樣的問題，有的是知識方面的不足導致的，有的是設計經(jīng)驗方面不足導致的。參考文獻[1] 吳宗澤,[M].北京:高等教育出版社,1999.[2]廖念釗,莫雨松,李碩根,[M].北京:中國計量出版社,2000.[3]陳錦昌,劉就女,[M].廣州:華南理工大學出版社,1999.[4]馮辛安,黃玉美,[M].北京:機械工業(yè)出版社,2004.[5][M].北京:機械工業(yè)出版社,1995.[6]濮良貴，[M].北京:高等教育出版社,1995.[7][M].北京:電子工業(yè)出版社,1995.[8] :應用與設計[M].北京:北京航空航天大學出版社,2000.[9]吳宗澤,[M].北京:高等教育出版社,2002.[10]鄭堤,[M].北京:機械工業(yè)出版社,1997.[11]張鐵,[M].廣州:華南理工大學出版社,2001.[12][M].北京:高等教育出版社,1997.[13]余達太,[M].北京:冶金工業(yè)出版社,2001.外文翻譯外文原文資料：RobotsFirst, I explain the background robots, robot technology development. It should be said it is a mon scientific and technological development of a prehensive results, for the socioeconomic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country39。s many scholars see such a direction, has begun to make a robot research But this time, are basically confined to the theory of phase .Then the real robot research, in 7500 August 5, 1995, 15 nearly 20 years of development, The most rapid development, in 1986 we established a national plan of 863 hightechnology development plan, As robot technology will be an important theme of the development of The state has invested nearly Jiganyi funds begun to make a robot, We made the robot in the field quickly and rapid development.At present, units like the CAS ShenYng Institute of Automation, the original machinery, automation of the Ministry, as of Harbin Industrial University, Beijing University of Aeronautics and Astronautics, Qinghua University, Chinese Academy of Sciences, also includes automation of some units, and so on have done a very important study, also made a lot of achievements Meanwhile, in recent years, we end up in college, a lot of flats in robot research, Many graduate students and doctoral candidates are engaged in robotics research, we are more representative national study Industrial robots, underwater robots, space robots, robots in the nuclear industry are on the international level should be taking the lead .On the whole of our country Compared with developed countries, there is still a big gap, primarily manifested in the We in the robot industry, at present there is no fixed maturity product, but in these underwater, space, the nuclear industry, a number of special robots, we have made a lot of achievements characteristics.Now, I would like to briefly outline some of the industrial robot situation. So far, the industrial robot is the most mature and widely used category of a robot, now the world39。s assistant.We regard this country excel, it should be said that the United States, Russia and France, in our nation, also to the international forefront, which is the CAS ShenYang Institute of Automation of developing successful, 6,000 meters underwater without cable autonomous underwater robot, the robot to 6,000 meters underwater, can be conducted without cable operations. His is 2000, has been obtained in our country one of the top ten scientific and technological achievements. This indicates that our country in this underwater robot, have reached the advanced international level, 863 in the current plan, the development of 7,000 meters underwater in a manned submersible to the ocean further development and operation, This is a great vote of financial and material resources.In this space robotics research has also been a lot of development. In Europe, including 16 in the United States space program, and the future of this space capsule such a scheme, One thing is for space robots, its main significance lies in the development of the universe and the benefit of mankind and the creation of new human homes, Its main function is to scientific investigation, as production and space scientific experiments, satellites and space vehicles maintenance and repair, and the construction of the space assembly. These applications, indeed necessary, for example, scientific investigation, as if to mock the ground some physical and chemical experiments do not necessarily have people sitting in the edge of space, because the space crew survival in the day the cost is nearly one million dollars. But also very dangerous, in fact, some action is very simple, through the ground, via satellite control robot, and some regularly scheduled pletion of the action is actually very simple. Include the capsule as control experiments, some switches, buttons, simple flange repair maintenance, Robot can be used to be performed by robots because of a solar battery, then the robot will be able to survive, we will be able to work, We have just passed the last robot development on the application of the different areas of application, and have seen the robots in industry, medical, underwater, space, mining, construction, service, entertainment and military aspects of the application .Also really see that the application is driven by the development of key technologies, a lack of demand, the robot can not, It is because people in understanding the natural transformation of the natural process, the needs of a wide range of robots, So this will promote the development of key technologies, the robot itself for the development