【正文】 nipulator inadequately because it neglects the motion and configuration of the whole arm changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies result is reduced servo response speed and damping, limiting the precision and speed of the endeffecter and making it appropriate only for limitedprecision controlled in this manner move at slow speeds with unnecessary 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 puter architectures and parallel processing 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 corresponding problems are solved since the robot arm es arms can catch, put and carry objects, and its movements are flexible and applies to medium and smallscale automated production in which production varieties can be it is widely used on soft automatic robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh they reduced the labor intensity of the workers significantly and raised work robot arm is an important ponent of industrial robot, and it can be called industrial robots on many robot is set machinery, electronics, control, puters, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing using industrial robots, not only can improve product quality and production, 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 are such mechanical ponents as ball footbridge, slides, air control mechanical hand and so on in the programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical 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 recent years, as electronic technology, especially puter extensive use of robot development and production of hightech fields has bee a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the bination of mechanization and can replace humans pleted the risk of duplication of boring work, to reduce human labor intensity and improve labor 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 monly present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important ponent of 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 piece conveyor device, pact, and 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 present, China39。隨著科學(xué)技術(shù)的發(fā)展和人類知識(shí)水平的提高，人們?cè)絹碓秸J(rèn)識(shí)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)塑料制品在水中時(shí)用于污水處理的很有效地污泥菌群的附著體。伺服方法不能從分地模仿不同的動(dòng)力學(xué)機(jī)械手，因?yàn)樗雎粤藱C(jī)械手整體的運(yùn)動(dòng)和配置。機(jī)械手一般由耐高溫，抗腐蝕的材料制成，以適應(yīng)現(xiàn)場(chǎng)惡劣環(huán)境，大大降低了工人的勞動(dòng)強(qiáng)度，提高了工作效率。但數(shù)控加工中常見的上下料工序, 通常仍采用人工操作或傳統(tǒng)繼電器控制的半自動(dòng)化裝置。近年來，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(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)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)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)結(jié)合。第三篇：機(jī)械手畢業(yè)設(shè)計(jì)文獻(xiàn)綜述匯總吉林化工學(xué)院文 獻(xiàn) 綜 述300X200X120176。工業(yè)機(jī)械手的設(shè)計(jì)更是對(duì)所學(xué)知識(shí)的綜合運(yùn)用。人工搬運(yùn)雖然可以滿足易損壞物件的安全，但是這種搬運(yùn)方式往往效率低，費(fèi)用高。在物流快遞搬運(yùn)過程中，由于貨物尺寸變化較大，需要機(jī)械手能夠適應(yīng)不同物體的抓取需要，調(diào)整機(jī)械手的抓取運(yùn)動(dòng)幅度，基于此本文設(shè)計(jì)了一種多自由度機(jī)械手，滿足不同貨物的抓取需要。在選擇的過程中，更根據(jù)物件的特點(diǎn)選擇相應(yīng)的驅(qū)動(dòng)方式。定位精度過高，會(huì)使搬運(yùn)的成本提高，降低企業(yè)的利潤(rùn)[5]。物料搬運(yùn)是企業(yè)生產(chǎn)環(huán)節(jié)中的重要一環(huán)，提高物料搬運(yùn)的自動(dòng)化對(duì)提高企業(yè)的自身競(jìng)爭(zhēng)力有重要的影響。工業(yè)機(jī)械手是近幾十年發(fā)展起來的一種高科技自動(dòng)生產(chǎn)設(shè)備。機(jī)械手是一種能自動(dòng)控制并可從新編程以變動(dòng)的多功能機(jī)器，他有多個(gè)自由度，可以搬運(yùn)物體以完成在不同環(huán)境中的工作。1962年，美國機(jī)械鑄造公司在上述方案的基礎(chǔ)之上又試制成一臺(tái)數(shù)控示教再現(xiàn)型機(jī)械手。1978年美國Unimate公司和斯坦福大學(xué)、麻省理工學(xué)院聯(lián)合研制一種UnimateVicarm型工業(yè)機(jī)械手，裝有小型電子計(jì)算機(jī)進(jìn)行控制，用于裝配作業(yè)，定位誤差可小于177。瑞士RETAB公司生產(chǎn)一種涂漆機(jī)械手，采用示教方法編制程序。具有記憶功能的機(jī)械手產(chǎn)值約為67億日元，比1978年增長(zhǎng)50%。研究安裝各種傳感器，把感覺到的信息反饋，使機(jī)械手具有感覺機(jī)能。在現(xiàn)代工業(yè)中，生產(chǎn)過程中的自動(dòng)化已成為突出的主題。 建造旋轉(zhuǎn)零件（轉(zhuǎn)軸、盤類、環(huán)類）自動(dòng)線一般都采用機(jī)械手在機(jī)床之間傳遞零件。如沈陽低壓開關(guān)廠200t環(huán)類沖床磁力起重器殼體下料機(jī)械手和天京拖拉機(jī)廠400t沖床的下料機(jī)械手等。參考文獻(xiàn)[1] [J].機(jī)器人技術(shù)與應(yīng)用,2001,76(4):1116.[2] [J].液壓與氣動(dòng),2002,8(2):3132.[3] [M].北京:機(jī)械工業(yè)出版社,1996.[4] [M].北京:北京理工大學(xué)出版社,1992 [5] [J].中國工控信息網(wǎng), [6] [M].北京:北京航空航天大學(xué)出版社,2009.[7] [J].液壓氣動(dòng)與密封,1999,2124.[8] [M]．南京:東南大學(xué)出版社,2003.[9] (西門子S7200系列)[M].北京:中國電力出版社,2005.[10] 劉軒,[J].機(jī)床電器,2006,3449.[11] 張鐵異,何國金,[J].液壓與氣動(dòng),2008,18(9):6—8.[12] 的工業(yè)機(jī)械手控制系統(tǒng)[J].儀表技術(shù)與傳感器,2007,9(9):3132.[13] ,a fast robot wth parallel geometry[J]. on industr