【正文】 ture the position and direction of the object, then the robot moves straight to the site. In contrast, closedloop operation of motion detection robot, always under the control of the sensor. Most sensors are closed loop mode, they can always detect the actual location of the robot and the deviation between the ideal position, and drive the robot fix this error. In the closedloop detection, even if the object in motion, for example, the conveyor belt, the robot can grasp it and sent it to the desired location. However, in the early 20th century, 80, a number of factors hindered the development of closedloop detection. The most important reason is the image map for too long, almost equal to the robot move from one place to another time. For practical, for the robot arm motion, image analysis time by reducing down time should be able to accept and explain a few frames. In the use of force and tactile sensor control movement, reaction time to visual sensor that is no longer a problem, because very little information when the sensor transmission. In other words, we can placed on the wrist force and torque sensor 6, or place a finger on the lowresolution binary sensor array. Since the sensor more plex, we can expect delivery by the sensor data can be more of information. 河北工程大學(xué)畢業(yè)設(shè)計 10中文翻譯： 工業(yè)機(jī)器人 機(jī)電一體化 在國際市場中，制造業(yè)和工業(yè)產(chǎn)品德銷售業(yè)績?nèi)〉玫某煽儯絹碓揭揽侩娮蛹夹g(shù)和計算機(jī)技術(shù)與傳統(tǒng)機(jī)械制造和機(jī)械產(chǎn)品的廣泛結(jié)合。 the other power source used to drive each axis manipulator. For example, if the robot is controlled by a hydraulic or pneumatic drive, these devices will receive the control signal, a robot in motion. The robot sensor Although the robot has great ability, but often than not with a little practice, but the workers. For example, workers can find parts that fell on the ground or no parts feeder. But not the sensor, the robot will not get this information. Even the most 河北工程大學(xué)畢業(yè)設(shè)計 8 sophisticated sensor system, the robot is smaller than an experienced worker. Therefore, a good robot system design requires many sensor and robot controller using the phase to make it operate as close as possible the perception of workers. The most frequently used robotics sensors into contact with the noncontact. Contact sensors can be further divided into tactile sensors, force and torque sensors. Tactile or contact sensors can be measured by the driveside and the actual contact between other objects, microswitch is a simple tactile sensor. When the robot by the driveside contact with other objects, the robot stop motion sensors to avoid collisions between objects to tell the robot has reached the goal。s work unit. Robot work cell robots perform tasks in the work environment. Unit of work, including the robot manipulator, controller, working platforms, safety equipment and gear. In addition, the robot should be able to municate with the outside world signals. Robot manipulator to plete the specific work of the robot system, which consists of two parts: the mechanical parts and ancillary parts. Subsidiary part of the installed robot base. Several fixed on the floor at the job site. But sometimes the base is able to move, in this case, the base placed in orbit for the robot from one location to another location should be. Subsidiary part of the robot arm. It may be a straight arm can move, it may be a hinged arm, the robot work to provide multiple axes. Articulated arm that is connected to the relevant section of the arm. End of the arm with a wrist. Wrist mounted on another shaft and fitted with flange root. In the flange also can be connected to different tools to plete different tasks. Mechanical axis allows the robot hand in a specific area to work. This area is called the robot unit of work, it depends on the size of the robot. If the robot the size of the increase will increase the size of the unit of work. Manipulator movement control drive or drive system. They drive the state work unit in the rotation. Drive system can make the electrical, hydraulic, it can be pneumatic. Drive power generated by the various institutions converted into 河北工程大學(xué)畢業(yè)設(shè)計 7 mechanical energy, all kinds of drive system is connected by mechanical transmission. Those from the chain, gears and ball screw driven mechanical transmission device posed of the axis of the robot. Used to control the robot to control its movement and the work unit of the external device. Handheld keyboard by hanging the movement of the robot controller program input. The data stored in the controller39。s first since the emergence of personal puters, many manufacturers produce microprocessors based on its socalled. Through the main memory and secondary storage devices exchange data, which allows users to use than the system microprocessor to provide the actual storage space for more storage space programming. It is this processing power and storage efficiency had a dramatic impact, making more and more industrial sectors to PC, for data acquisition and control applications. In addition to handling capabilities, PC machine control applications as a key ponent of many other advantages. These advantages are: (1) choice of application software more than a dedicated controller. (2) Select the tools to improve application efficiency and room for more. (3) The PC is available in a variety of forms r