【正文】 ts not only solves the problems which are difficult to operate for human being, but also advances the industrial automation 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 the 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 disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage abundance requirement for lacunaris plastic makes it is a consequent for the 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 plastic holding 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 and the arthrosis 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 lever.39。 s acceleration can fit the torquefrequency curve properly with this the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change method is tested by last, the research content and the achievement are sum up and the problems and shortages in main the content are also development and application of robot in the future is 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、微電子與計算機(jī)、自動控制與驅(qū)動、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)的發(fā)展和各行各業(yè)對自動化程度要求的提高，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。目前，由于機(jī)器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實用化、高可靠性機(jī)器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟(jì)價值。隨著科學(xué)技術(shù)的發(fā)展和人類知識水平的提高，人們越來越認(rèn)識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)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。本文結(jié)合塑料一次擠出成型機(jī)和塑料抓取機(jī)械手的研制過程中出現(xiàn)的問題，綜述近幾年機(jī)器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機(jī)、電、軟、硬件各自特點和優(yōu)勢互補(bǔ)的基礎(chǔ)上，對物料抓取機(jī)械手整體機(jī)械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進(jìn)行了分析和設(shè)計，提出了一套經(jīng)濟(jì)型設(shè)計方案。傳動裝置的作用是將驅(qū)動元件的動力傳遞給機(jī)器人機(jī)械手相應(yīng)的執(zhí)行機(jī)構(gòu)，以實現(xiàn)各種必要的運(yùn)動，傳動方式上采用結(jié)構(gòu)緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉(zhuǎn)運(yùn)動轉(zhuǎn)換為直線運(yùn)動的螺旋傳動。由于步進(jìn)電機(jī)能夠直接接收數(shù)字量，響應(yīng)速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動機(jī)構(gòu)的動力元件，因此，在驅(qū)動裝置中采用由步進(jìn)電機(jī)構(gòu)成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達(dá)到經(jīng)濟(jì)性、實用化目的，在此基礎(chǔ)上，對步進(jìn)電機(jī)的功率計一算及選型問題經(jīng)行了分析。運(yùn)動學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對操作臂進(jìn)行了運(yùn)動學(xué)正、逆問題的分析可以完成操作空間位置和速度向驅(qū)動空間的映射，采用齊次坐標(biāo)變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運(yùn)動學(xué)方程求解問題，對控制系統(tǒng)設(shè)計提供了理論依據(jù)?？刂撇糠质钦麄€物料抓取機(jī)械手系統(tǒng)設(shè)計關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實現(xiàn)直接關(guān)系到機(jī)器人系統(tǒng)的可靠性、實用性，也影響和制約機(jī)械手系統(tǒng)的研制成本和開發(fā)周期。同時對PCL839卡的結(jié)構(gòu)特點、功能原理和其高定位功能等給與了分析。在物料抓取機(jī)械手軟件的設(shè)計上，采用的是模塊化結(jié)構(gòu)，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。步進(jìn)電機(jī)的啟停頻率遠(yuǎn)遠(yuǎn)小于其最高運(yùn)行頻率，為了提高工作效率，需要步進(jìn)電機(jī)高速運(yùn)行并快速啟停時，必須考慮它的升，降速控制問題。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進(jìn)電機(jī)變速控制策略:定時器常量修改變速控制方案。而且它的計算量比線性加速度變速和基于指數(shù)規(guī)律加速度的變速控制小得多。最后，對論文主要研究內(nèi)容和取得的技術(shù)成果進(jìn)行了總結(jié)，提出了存在的問題和不足，同時對機(jī)器人技術(shù)的發(fā)展和應(yīng)用進(jìn)行了展望。and at the vicinity of global optimum, with longer length chromosome and lower probability of crossover and , testing with some critical functions shows that our solution can improve the convergence speed of genetic algorithm significantly , its prehensive performance is better than that of the genetic algorithm which only reserves the best algorithm is an adaptive searching technique based on a selection and reproduction mechanism found in the natural evolution process, and it was pioneered by Holland in the has bee very famous with its global searching, parallel puting, better robustness, and not needing differential information during , it also has some demerits, such as poor local searching, premature converging, as well as slow convergence recent years, these problems have been this paper, an improved genetic algorithm with variant chromosome length and variant probability is with some critical functions shows that it can improve the convergence speed significantly, and its prehensive performance is better than that of the genetic algorithm which only reserves the best section 1, our new approach is optimization examples, in section 2, the efficiency of our algorithm is pared with the genetic algorithm which only reserves the best section 3 gives out the , some proofs of relative theorems are collected and presented in of the algorithm Some theorems Before proposing our approach, we give out some general theorems(seeappendix)as follows: Let us assume there is just one variable(multivariable can be divided into many sections, one section for one variable)x ∈ [ a, b ] , x ∈ R, and chromosome length with binary encoding is 1Minimal resolution of chromosome is s = ba 2l1Theorem 2Weight value of the ith bit of chromosome iswi = bai1(i = 1,2,…l)2l1Theorem 3Mathematical expectation Ec(x)of chromosome searching step with onepoint crossover is Ec(x)= baPc 2lwhere Pc is the probability of 4Mathematical expectation Em(x)of chromosome searching step with bit mutation is Em(x)=(ba)Pm Mechanism of algorithmDuring evolutionary process, we presume that value domains of variable are fixed, and the probability of crossover is a constant, so from Theorem 1 and 3, we know that the longer chromosome length is, the smaller searc