【正文】 r calculating and style selecting is also analysis of kinematics and dynamics for object holding manipulator is given in pleting the design of mechanical structure and drive industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism approach models the varying dynamics of a manipulator 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。機(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問(wèn)題，又促進(jìn)了工業(yè)自動(dòng)化的進(jìn)程。機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)往往受到作業(yè)環(huán)境條件的限制，同時(shí)也要考慮價(jià)格因素的影響以及能夠達(dá)到的技術(shù)水平。在工業(yè)生產(chǎn)和其它領(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(dòng)強(qiáng)度，甚至于危及生命。它的特點(diǎn)是可通過(guò)編程來(lái)完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu)造和性能上兼有人和機(jī)器各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。當(dāng)工件變更時(shí)，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷(xiāo)對(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。凍膠分類(lèi)C10。2010年莫斯科都市地區(qū)39個(gè)市轄區(qū)的地理數(shù)據(jù)。在1990年至2005年期間，俄羅斯的可耕種土地減少了1050萬(wàn)公頃(%)。其他經(jīng)濟(jì)工具不可或缺的土地政策、土地評(píng)估,也是基于前實(shí)踐后共產(chǎn)主義時(shí)期的聯(lián)邦法律規(guī)定的一般公式,考慮土壤生產(chǎn)力標(biāo)準(zhǔn),地貌景觀的灌溉的存在,但仍然沒(méi)有與市場(chǎng)價(jià)格的農(nóng)田。政府保留發(fā)展權(quán)利等創(chuàng)新辦法可能是一種臨時(shí)解決辦法。核部件通常采用電弧焊接工藝，但與設(shè)計(jì)為未來(lái)的新建設(shè)項(xiàng)目超過(guò)60年的生活，新的焊接技術(shù)正在尋求。SA508鋼已經(jīng)用于許多RPV?的壓水反應(yīng)堆制造因?yàn)樗麄兲峁┑慕Y(jié)合強(qiáng)度，延展性好，斷裂韌性，相對(duì)于機(jī)械性能的均勻性，和他們的經(jīng)濟(jì)[ 9 ]、[ 10 ]、[ 11 ]和[ 12 ]。Murty等人。事實(shí)上，激光焊接到中等厚的部分奧氏體不銹鋼的應(yīng)用已經(jīng)探討過(guò)。在焊接過(guò)程中的溫度歷史可以記錄使用熱電偶。數(shù)值的解決方案是使用商業(yè)軟件ANSYS生成，并與實(shí)驗(yàn)結(jié)果進(jìn)行了比較，驗(yàn)證了數(shù)值模型。MS（馬氏體轉(zhuǎn)變開(kāi)始溫度在420 C）176?；w材料的微觀結(jié)構(gòu)（BM）是一個(gè)暴躁的上貝氏體結(jié)構(gòu)。激光頭安裝在一個(gè)六軸庫(kù)卡機(jī)器人。表面硬度測(cè)量使用Struers duramin2維氏顯微硬度計(jì)進(jìn)行。這些沖擊試樣的寬度是由板塊焊接厚度的限制，即6毫米。C、0 C和176。激光頭由8個(gè)傾斜傾斜，以防止反射。與2毫米的厚度板被用在GTA焊接固有的淺層滲透，雙面焊接進(jìn)行了。熔合區(qū)由粗大的柱狀枝晶顆粒組成，其與垂直于熔合邊界的方向?qū)?zhǔn)。微觀結(jié)構(gòu)特征焊接接頭各子區(qū)域內(nèi)的顯微組織演變主要由焊接熱循環(huán)過(guò)程中的峰值溫度和每個(gè)相應(yīng)的子區(qū)域的冷卻速度[ 27 ]和[ 28 ]確定。在粗晶區(qū)，顯微組織由馬氏體和回火馬氏體粗粒度的汽車(chē)，而在融合區(qū)，粗大的馬氏體和自動(dòng)觀察回火馬氏體。室溫拉伸行為交叉焊縫的拉伸數(shù)據(jù)如表觀屈服強(qiáng)度參數(shù)，拉伸強(qiáng)度和伸長(zhǎng)率均明顯，2毫米厚的鎢極氬弧焊試樣和6毫米厚的激光焊接試樣總結(jié)在表4中，其中包括平均值和標(biāo)準(zhǔn)偏差。YS，為2毫米厚的基底材料的抗拉強(qiáng)度和延伸率分別為501 MPa、633 %，分別。許多研究人員已經(jīng)reported，激光和電子束焊接過(guò)程中可能對(duì)目前的困難owing韌性試驗(yàn)區(qū)的兩個(gè)窄融合在一起，有一個(gè)大學(xué)學(xué)位的高強(qiáng)度的高匹配接頭[ 31 ]，[ 32 ]，[ 33 ]和[ 34 ]。它可以發(fā)現(xiàn)從夏比沖擊試驗(yàn)結(jié)果的平均吸收的激光焊縫試樣的能量相媲美的基礎(chǔ)材料。C為激光焊接的試樣，但在這些溫度約100 J這些孤立的低韌性值貢獻(xiàn)了大量分散在吸收能量值的激光焊接試樣在測(cè)試溫度低平均值。斷裂的基礎(chǔ)材料試件在?20176。（圖16（a）和（c））。三維有限元建模的自激光焊接工藝的制定和程序這是理解激光自熔焊接SA508鋼時(shí)的微觀組織演化研究焊接過(guò)程的溫度場(chǎng)的重要，這是特別是在焊接熱影響區(qū)的情況。細(xì)網(wǎng)格中的熔合區(qū)附近的熱影響區(qū)，陡峭的溫度梯度可以預(yù)期，而較粗的網(wǎng)格被用來(lái)進(jìn)一步遠(yuǎn)離焊縫和熱影響區(qū)的坡度可能沒(méi)那么嚴(yán)重。在體積熱源模型，高斯熱通量分布往往假定在徑向方向和“鑰匙孔”被認(rèn)為是一個(gè)圓柱體或截?cái)噱F[ 39 ]。為了驗(yàn)證模擬結(jié)果，無(wú)論是實(shí)驗(yàn)測(cè)得的熱循環(huán)和熔合區(qū)形態(tài)進(jìn)行了比較與那些從模擬所產(chǎn)生的預(yù)測(cè)。計(jì)算出的焊縫幾何尺寸和尺寸與實(shí)驗(yàn)結(jié)果吻合較好。由此產(chǎn)生的預(yù)測(cè)模型，可以用來(lái)推斷的微觀結(jié)構(gòu)，有可能產(chǎn)生的激光焊接過(guò)程中。176。C/S）。根據(jù)仿真結(jié)果，從焊縫中心線的距離為2毫米，最高溫度約為700176。當(dāng)馬氏體轉(zhuǎn)變停止，在這個(gè)溫度仍會(huì)ICHAZ足夠高的馬氏體自回火。在FGHAZ峰值溫度略高于Ac3溫度（800176。C和馬氏體的臨界冷卻速率約為15176。這表明，508鋼的情況下預(yù)熱，GTA焊接在硬化焊接接頭激光焊接具有相同的效果。[ 12 ]在SA508鋼。這兩個(gè)因素將有助于在激光焊接試樣的夏比沖擊試驗(yàn)的困難，即裂紋偏離焊縫為基料，從而誤導(dǎo)沖擊韌性的結(jié)果。脆性區(qū)不能吸收太多的能量在斷裂之前。所有的標(biāo)本中提取的基礎(chǔ)材料斷裂的方式，與缺口對(duì)準(zhǔn)，與一個(gè)相對(duì)直的路徑，如圖14所示。這表明，