【正文】 rights by the government might represent a temporary increasing reliance on local governance in solvinglocal problems would imply improved landuse and public finance planning and,perhaps, a slower farmland conversion Ekaterina Gnedenko1 amp。因此，進(jìn)行機(jī)械手的研究設(shè)計(jì)是非常有意義的。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。目前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個(gè)重要組成部分。機(jī)械手能代替人類完成危險(xiǎn)、重復(fù)枯燥的工作，減輕人類勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)......機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置，它是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成?？删幊绦蚩刂破鱌LC控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、具有較強(qiáng)的抗干擾能力, 保證了系統(tǒng)運(yùn)行的可靠性,降低了維修率, 提高了工作效率。前者費(fèi)時(shí)費(fèi)工、效率低。隨著工業(yè)自動(dòng)化的發(fā)展, 出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動(dòng)強(qiáng)度的同時(shí), 大大提高了勞動(dòng)生產(chǎn)率。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。廣泛采用工業(yè)機(jī)器人，不僅可以提高產(chǎn)品的質(zhì)量與產(chǎn)量，而且對(duì)保障人身安全，改善勞動(dòng)環(huán)境，減輕勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)率，節(jié)約原材料消耗以及降低生產(chǎn)成本，有著十分重要的意義。機(jī)械手是工業(yè)機(jī)器人的重要組成部分，在很多情況下它就可以稱為工業(yè)機(jī)器人。機(jī)械手可在空間抓、放、搬運(yùn)物體，動(dòng)作靈活多樣，適用于可變換生產(chǎn)品種的中、小批量自動(dòng)化生產(chǎn)，廣泛應(yīng)用于柔性自動(dòng)線。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。機(jī)械手以這種方式控制速度降低而沒(méi)有不必要的震動(dòng)。這些控制系統(tǒng)的參數(shù)的變化有時(shí)是足夠重要，以至于使常規(guī)的反饋控制方法失效。目前的工業(yè)機(jī)械臂控制將每一個(gè)機(jī)械臂的聯(lián)合看做一個(gè)簡(jiǎn)單的聯(lián)合伺服。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。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機(jī)械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動(dòng)化和高效率要求成為經(jīng)濟(jì)發(fā)展的必然。由于我國(guó)經(jīng)濟(jì)建設(shè)和城市化的快速發(fā)展，城市污染排水放量增長(zhǎng)很快，污水處理已經(jīng)擺在了人們的議事日程上來(lái)。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。更重要的是這些機(jī)器人可以每天24小時(shí)不停止地工作。s industrial robot technology and its engineering application level and parable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very , the study of mechanical hand design is very 機(jī)器人是典型的機(jī)電一體化裝置，它綜合運(yùn)用了機(jī)械與精密機(jī)械、微電子與計(jì)算機(jī)、自動(dòng)控制與驅(qū)動(dòng)、傳感器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟(jì)技術(shù)的發(fā)展和各行各業(yè)對(duì)自動(dòng)化程度要求的提高，機(jī)器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機(jī)器人產(chǎn)品。第一篇：關(guān)于現(xiàn)代工業(yè)機(jī)械手外文文獻(xiàn)翻譯中英文翻譯外文翻譯附錄About Modenr Industrial Manipulayor Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, microelectronics and puter, automation control and drive, sensor and message dispose and artificial intelligence and so the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are e into practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation industrial robots are true marvels of robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of these robots can do that 24hours a day for years on end with no failures they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for present, the research and development of robot involves several kinds of technology and the robot system configuration is so plex that the cost at large is high which to a certain extent limit the robot abroad development economic practicality and high reliability robot system will be value to robot social application and economy he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly。with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage bacteria method is an effective technique for sewage abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high , it is very necessary to design a manipulator that can automatically fulfill the plastic the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and plex of mechanical configuration, electronic, software and this article, the mechanical configuration bines the character of direction coordinate which can improve the stability and operation flexibility of the main function of the transmission mechanism is to transmit power to implement department and plete the necessary this transmission structure, the screw transmission mechanism transmits the rotary motion into linear gear can give vary transmission of the transmission mechanisms have a characteristic of pact design of drive system often is limited by the environment condition and the factor of cost and technical step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and this basis, the analysis of stepping motor in power 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