【正文】 or a addition, signals from outside device can municate with the robot.The manipulator,which does the physical work of the robotic system,consists of two sections:the mechanical section and the attached manipulator also has a base to which the appendages are base of the manipulator is usually fixed to the floor of the work ,through,the base may be this case,the base is attached to either a rail or a track,allowing the manipulator to be moved from one location to another.the manipulator is mainly posed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according to is grasped holds the thing shape, the size, the weight, the material and the work request has many kinds of structural styles, like the clamp, the request hold and the adsorption and so on. The motion, causes the hand to plete each kind of rotation (swinging), the migration or the pound motion realizes the stipulation movement, changes is grasped holds the thing position and the posture. Motion39。s fluctuation, the expansion, revolving and so on independence movement way, is called manipulator39。s degreeoffreedom. In order to capture in the space the optional position and the position object, must have 6 degreesoffreedom. The degreeoffreedom is the key parameter which the manipulator designs. The degreeoffreedom are more, manipulator39。s flexibility is bigger, the versatility is broader, its structure is also more plex. Generally the specialpurpose manipulator has 2~3 degreesoffreedom.The appendage is the arm of the can be either a straight,movable arm or a jointed arm and gives the manipulator its various axes of jointed arm is also known as an articulated the end of the arm,a wrist is wrist is made up of additional axes and a wrist wrist flange allows therobot user to connectdifferent tooling to the wrist for different manipulator’saxes allow it to perform work within acertain area is called the work cell of the robot,and its size corresponds to the size of the the robot’physical size increases,the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system can use electric,hydraulic,or pneumatic energy developed by the drive system is convered to mechanical power by various mechanical drive drive systems are coupled through mechanical linkages,in turn,drive the different axes of the robot. The mechanical linkages may be posed of chains,geas,and ball screws.The controller is used to control the robot manipulator’movements as well as to control peripheral ponents within the work user can program themovements of the manipulator into the controller through the use of a handheld teach information is stored in the memory of the controller for later recall.The controller is also required to municate with peripheral equipment within the work example,a controller has an input the machine cycle is pleted,the input line turns on ,telling the controller to position the manipulator so that it can pick up the finished ,a new part is picked up by the manipulator and placed into the ,the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of type of controller operates with simple robotic controllers found on the majority of robotic systems are more plex devices and represent stateoftheart is,they are power allows the controller to be very flexible in its operation.The controller can send electric signals over munication two way munication between the robot manipulator and the controller maintains a constant update of the location and the operation of the controller also has the job of municating with the different plant munication link establishes the robot as part of a puterassisted manufacturing(CAM) microprocessorbased systems operate in conjunction with solidstate memory memory devices may be magnetic bubbles,randomaccess memory,floppy disk,or magnetic tape.The power supply is the unit that supplies power to the controller and the types of power are delived to the robotic type of power is the Acpower for operation of the other type of power is used for driving the various axes of the example,if the robot manipulator is controlled by hydraulic or pneumatic drives,control signals are sent to these devices,causing motion of the robot.Industrial robots vary widely in size ，shape，number of axes，degrees of freedom，and design configuration .Each factor influences the dimensions of the robot’s working envelop or the volume of space within which it can move and perform its designated broader classification of robots can been described as below.Fixedand VariableSequence Robots .The fixedsequence robot(also called a pickand place robot)is programmed for a specific sequence of movements are from point to point ,and the cycle is repeated variablesequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation.Playback operator leads or walks the playback robot and its end effector through the deired path .The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled numerically cantrolled robot is programmed and operated much like a numerically controlled machine .The robot is servocontrolled by digital data ,and its sequence of movements can be changed with relative ease.Intelligent Robot.[3]The intelligent robot is capable of performing some of the functions and tasks carried out by human beings .It is equipped with a variety of sensors with visual and tactile capabilities. 機(jī)器人工業(yè)機(jī)器人是一種提高制造業(yè)生產(chǎn)力的工具，它可以承擔(dān)那些對(duì)人類可能有危險(xiǎn)的工作。如安裝印刷電路板上的電子元器件。這樣，人們九可以從單調(diào)的工作中解脫出來(lái)。機(jī)器人還能拆除炸彈，為傷殘人服務(wù)，為我們的社會(huì)做各種各樣的工作。機(jī)器人是一個(gè)可以重復(fù)編程的、多功能的工作機(jī)構(gòu)，可以在各個(gè)預(yù)編程位置移動(dòng)零件、材料、工具或其他特殊裝置，完成各種不同的工作。預(yù)編程位置是指機(jī)器人完成工作時(shí)必須遵循的路徑。在某