机械手机械设计中英文对照外文翻译文献

密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Simple Manipulator And The Control Of It 译文标题简易机械手及控制作者所在系别机械工程系作者所在专业xxxxx作者所在班级xxxxxxxx作者姓名xxxx作者学号xxxxxx指导教师姓名xxxxxx指导教师职称副教授完成时间2012 年02 月北华航天工业学院教务处制译文标题简易机械手及控制原文标题 Simple Manipulator And The Control Of It作者机电之家译名JDZJ国籍中国原文出处机电之家中文译文：简易机械手及控制随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。

由于微电子技术和计算软、硬件技术的迅猛发展和现代控制理论的不断完善,使机械手技术快速发展,其中气动机械手系统由于其介质来源简便以及不污染环境、组件价格低廉、维修方便和系统安全可靠等特点,已渗透到工业领域的各个部门,在工业发展中占有重要地位。

本文讲述的气动机械手有气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。

主要作用是完成机械部件的搬运工作,能放置在各种不同的生产线或物流流水线中,使零件搬运、货物运输更快捷、便利。

一.四轴联动简易机械手的结构及动作过程机械手结构如下图1所示,有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。

图1.机械手结构其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点);(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关);(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成);(4)旋转基座主要支撑以上3部分;(5)气控机械手的张合由气压控制(充气时机械手抓紧,放气时机械手松开)。

毕业论文中英文资料外文翻译文献专业机械设计制造及其自动化课题多自由度机械手机械设计英文原文Automated Tracking and Grasping of a Moving Object with a RoboticHand-Eye SystemAbstractMost robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.I. INTRODUCTIONThe focus of our work is to achieve a high level of interaction between real-time vision systems capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used to intercept, grasp, and pick up a movingobject. We are interested in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.There has been much research in robotics over the last few years that address either visual tracking of moving objects or generalized grasping problems. However, there have been few efforts that try to link the two problems. It is quite clear that complex robotic tasks such as automated assembly will need to have integrated systems that use visual feedback to plan, execute, and monitor grasping.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, using visual feedback to track, intercept, stably grasp, and pick up a moving object. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.Our work also addresses a very fundamental and limiting problem that is inherent in building integrated sensing actuation systems; integration of systems with different sampling and processing rates. Most complex robotic systems are actually amalgams of different processing devices, connected by a variety of methods. For example, our system consists of three separate computation systems: a parallel image processing computer; a host computer that filters, triangulates, and predicts 3-D position from the raw vision data; and a separate arm control system computer that performs inverse kinematic transformations and joint-level servicing. Each of these systems has its own sampling rate, noise characteristics, and processing delays, which need to be integrated to achieve smooth and stable real-time performance. In our case, this involves overcoming visual processing noise and delays with a predictive filter basedupon a probabilistic analysis of the system noise characteristics. In addition, real-time arm control needs to be able to operate at fast servo rates regardless of whether new predictions of object position are available.The system consists of two fixed cameras that can image a scene containing a moving object (Fig. 1). A PUMA-560 with a parallel jaw gripper attached is used to track and pick up the object as it moves (Fig. 2). The system operates as follows:1) The imaging system performs a stereoscopic optic-flow calculation at each pixel in the image. From these optic-flow fields, a motion energy profile is obtained that forms the basis for a triangulation that can recover the 3-D position of a moving object at video rates.2) The 3-D position of the moving object computed by step 1 is initially smoothed to remove sensor noise, and a nonlinear filter is used to recover the correct trajectory parameters which can be used for forward prediction, and the updated position is sent to the trajectory-planner/arm-control system.3) The trajectory planner updates the joint-level servos of the arm via kinematic transform equations. An additional fixed-gain filter is used to provide servo-level control in case of missed or delayed communication from the vision and filtering system.4) Once tracking is stable, the system commands the arm to intercept the moving object and the hand is used to grasp the object stably and pick it up.The following sections of the paper describe each of these subsystems in detail along with experimental results.П. PREVIOUS WORKPrevious efforts in the areas of motion tracking and real-time control are too numerous to exhaustively list here. We instead list some notable efforts that have inspired us to use similar approaches. Burt et al. [9] have focused on high-speed feature detection and hierarchical scaling of images in order to meet the real-time demands of surveillance and other robotic applications. Related work has been reported by. Lee and Wohn [29] and Wiklund and Granlund [43] who uses image differencing methods to track motion. Corke, Paul, and Wohn [13] report afeature-based tracking method that uses special-purpose hardware to drive a servocontroller of an arm-mounted camera. Goldenberg et al. [16] have developed a method that uses temporal filtering with vision hardware similar to our own. Luo, Mullen, and Wessel [30] report a real-time implementation of motion tracking in 1-D based on Horn and Schunk’s method. Vergheseetul. [41] Report real-time short-range visual tracking of objects using a pipelined system similar to our own. Safadi [37] uses a tracking filter similar to our own and a pyramid-based vision system, but few results are reported with this system. Rao and Durrant-Whyte [36] have implemented a Kalman filter-based decentralized tracking system that tracks moving objects with multiple cameras. Miller [31] has integrated a camera and arm for a tracking task where the emphasis is on learning kinematic and control parameters of the system. Weiss et al. [42] also use visual feedback to develop control laws for manipulation. Brown [8] has implemented a gaze control system that links a robotic “head” containing binocular cameras with a servo controller that allows one to maintain a fixed gaze on a moving object. Clark and Ferrier [12] also have implemented a gaze control system for a mobile robot. A variation of the tracking problems is the case of moving cameras. Some of the papers addressing this interesting problem are [9], [15], [44], and [18].The majority of literature on the control problems encountered in motion tracking experiments is concerned with the problem of generating smooth, up-to-date trajectories from noisy and delayed outputs from different vision algorithms.Our previous work [4] coped with that problem in a similar way as in [38], using an cy- p - y filter, which is a form of steady-state Kalman filter. Other approaches can be found in papers by [33], [34], [28], [6]. In the work of Papanikolopoulos et al. [33], [34], visual sensors are used in the feedback loop to perform adaptive robotic visual tracking. Sophisticated control schemes are described which combine a Kalman filter’s estimation and filtering power with an optimal (LQG) controller which computes the robot’s motion. The vision system uses an optic-flow computation based on the SSD (sum of squared differences) method which, while time consuming, appears to be accurate enough for the tracking task. Efficient use of windows in the image can improve the performance of this method. The authors have presented good tracking results, as well as stated that the controller is robust enough so the use ofmore complex (time-varying LQG) methods is not justified. Experimental results with the CMU Direct Drive Arm П show that the methods are quite accurate, robust, and promising.The work of Lee and Kay [28] addresses the problem of uncertainty of cameras in the robot’s coordinate frame. The fact that cameras have to be strictly fixed in robot’s frame might be quite annoying since each time they are (most often incidentally) displaced; one has to undertake a tedious job of their recalibration. Again, the estimation of the moving object’s position and orientation is done in the Cartesian space and a simple error model is assumed. Andersen et al. [6] adopt a 3rd-order Kalman filter in order to allow a robotic system (consisting of two degrees of freedom) to play the labyrinth game. A somewhat different approach has been explored in the work of Houshangi [24] and Koivo et al. [27]. In these works, the autoregressive (AR) and auto grassier moving-average with exogenous input (ARMAX) models are investigated for visual tracking.Ш. VISION SYSTEMIn a visual tracking problem, motion in the imaging system has to be translated into 3-D scene motion. Our approach is to initially compute local optic-flow fields that measure image velocity at each pixel in the image. A variety of techniques for computing optic-flow fields have been used with varying results includingmatching-based techniques [5], [ 10], [39], gradient-based techniques [23], [32], [ 113, and patio-temporal, energy methods [20], [2]. Optic-flow was chosen as the primitive upon which to base the tracking algorithm for the following reasons.·The ability to track an object in three dimensions implies that there will be motion across the retinas (image planes) that are imaging the scene. By identifying this motion in each camera, we can begin to find the actual 3-D motion.·The principal constraint in the imaging process is high computational speed to satisfy the update process for the robotic arm parameters. Hence, we needed to be able to compute image motion quickly and robustly. The Hom-Schunck optic-flow algorithm (described below) is well suited for real-time computation on our PIPE image processing engine.·We have developed a new framework for computing optic-flow robustly using anestimation-theoretic framework [40]. While this work does not specifically use these ideas, we have future plans to try to adapt this algorithm to such a framework.Our method begins with an implementation of the Horn-Schunck method of computing optic-flow [22]. The underlying assumption of this method is theoptic-flow constraint equation, which assumes image irradiance at time t and t+σt will be the same:If we expand this constraint via a Taylor series expansion, and drop second- and higher-order terms, we obtain the form of the constraint we need to compute normal velocity:Where u and U are the velocities in image space, and Ix, Iy,and It are the spatial and temporal derivatives in the image. This constraint limits the velocity field in an image to lie on a straight line in velocity space. The actual velocity cannot be determined directly from this constraint due to the aperture problem, but one can recover the component of velocity normal to this constraint lineA second, iterative process is usually employed to propagate velocities in image neighborhoods, based upon a variety of smoothness and heuristic constraints. These added neighborhood constraints allow for recovery of the actual velocities u,v in the image. While computationally appealing, this method of determining optic-flow has some inherent problems. First, the computation is done on a pixel-by-pixel basis, creating a large computational demand. Second, the information on optic flow is only available in areas where the gradients defined above exist.We have overcome the first of these problems by using the PIPE image processor [26], [7]. The PIPE is a pipelined parallel image processing computer capable of processing 256 x 256 x 8 bit images at frame rate speeds, and it supports the operations necessary for optic-flow computation in a pixel parallel method (a typical image operation such as convolution, warping, addition subtraction of images can be done in one cycle-l/60 s).The second problem is alleviated by our not needing to know the actual velocities in the image. What we need is the ability to locate and quantify gross image motion robustly. This rules out simple differencing methodswhich are too prone to noise and will make location of image movement difficult. Hence, a set of normal velocities at strong gradients is adequate for our task, precluding the need to iteratively propagate velocities in the image.A. Computing Normal Optic-Flow in Real-TimeOur goal is to track a single moving object in real time. We are using two fixed cameras that image the scene and need to report motion in 3-D to a robotic arm control program. Each camera is calibrated with the 3-D scene, but there is no explicit need to use registered (i.e., scan-line coherence) cameras. Our method computes the normal component of optic-flow for each pixel in each camera image, finds a centurion of motion energy for each image, and then uses triangulation to intersect the back-projected centurions of image motion in each camera. Four processors are used in parallel on the PIPE. The processors are assigned as four per camera-two each for the calculation of X and Y motion energy centurions in each image. We also use a special processor board (ISMAP) to perform real-time histogram. The steps below correspond to the numbers in Fig. 3.1) The camera images the scene and the image is sent to processing stages in the PIPE.2) The image is smoothed by convolution with a Gaussian mask. The convolution operator is a built-in operation in the PIPE and it can be performed in one frame cycle. 3-4) In the next two cycles, two more images are read in, smoothed and buffered, yielding smoothed images Io and I1 and I2.The ability to buffer and pipeline images allows temporal operations on images, albeit at the cost of processing delays (lags) on output. There are now three smoothed images in the PIPE, with the oldest image lagging by 3/60 s.5) Images Io and I2, are subtracted yielding the temporal derivative It.6) In parallel with step 5, image I1is convolved with a 3 x 3 horizontal spatial gradient operator, returning the discrete form of I,. In parallel, the vertical spatial gradient is calculated yielding I, (not shown).7-8)The results from steps 5 and 6 are held in buffers and then are input to alook-up table that divides the temporal gradient at each pixel by the absolute value of the summed horizontal and vertical spatial gradients [which approximates thedenominator in (3)]. This yields the normal velocity in the image at each pixel. These velocities are then threshold and any isolated (i.e., single pixel motion energy) blobs are morphologically eroded. The above threshold velocities are then encoded as gray value 255. In our experiments, we threshold all velocities below 10 pixels per 60 ms to zero velocity.9-10) In order to get the centurion of the motion information, we need the X and Y coordinates of the motion energy. For simplicity, we show only the situation for the X coordinate. The gray-value ramp in Fig. 3 is an image that encodes the horizontal coordinate value (0-255) for each point in the image as a gray value.Thus, it is an image that is black (0) at horizontal pixel 0 and white (255) at horizontal pixel 255. If we logically and each pixel of the above threshold velocity image with the ramp image, we have an image which encodes high velocity pixels with their positional coordinates in the image, and leaves pixels with no motion at zero.11) By taking this result and histogram it, via a special stage of the PIPE which performs histograms at frame rate speeds, we can find the centurion of the moving object by finding the mean of the resulting histogram. Histogram the high-velocity position encoded images yields 256 16-bit values (a result for each intensity in the image). These 256 values can be read off the PIPE via a parallel interface in about 10 ms. This operation is performed in parallel to find the moving object’s Y censored (and in parallel for X and Y centurions for camera 2). The total associated delay time for finding the censored of a moving object becomes 15 cycles or 0.25 s.The same algorithm is run in parallel on the PIPE for the second camera. Once the motion centurions are known for each camera, they are back-projected into the scene using the camera calibration matrices and triangulated to find the actual 3-D location of the movement. Because of the pipelined nature of the PIPE, a new X or Y coordinate is produced every 1/60 s with this delay. While we are able to derive 3-D position from motion stereo at real-time rates, there are a number of sources of noise and error inherent in the vision system. These include stereo triangulation error, moving shadow s which are interpreted as object motion (we use no special lighting in the scene), and small shifts in censored alignments due to the different viewing angles of the cameras, which have a large baseline. The net effect of this is to create a 3-Dposition signal that is accurate enough for gross-level object tracking, but is not sufficient for the smooth and highly accurate tracking required for grasping the object.英文翻译自动跟踪和捕捉系统中的机械手系统摘要——许多机器人抓捕任务都被假设在了一个固定的物体上进行。

翻译人：王墨墨山东科技大学文献题目：Automated Calibration of Robot Coordinatesfor Reconfigurable Assembly Systems翻译正文如下：针对可重构装配系统的机器人协调性的自动校准T.艾利，Y.米达，H.菊地，M.雪松日本东京大学，机械研究院，精密工程部摘要为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。

当一种新的设备被装配到流水工作线时，应使其具备校准系统。

该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。

摄像机被随机放置，然后对每一个机械手执行一组动作。

通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。

最佳的结果精度为均方根值0.16毫米。

关键词：装配，校准，机器人1 介绍21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性[1]。

系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。

关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。

他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的配置。

然而，协同只是目的的一部分。

在现实生产系统中，例如工作空间这类物理问题应当被有效解决。

为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。

作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。

该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。

我们可以把该功能称为“插入与生产”。

在重构过程中，校准的装配机器人是非常重要的。

这是因为，需要用它们来测量相关主体的特征，以便在物理主体之间建立良好的协作关系。

这一调整必须要达到表1中所列到的多种标准要求。

外文出处：《Manufacturing Engineering and Technology—Machining》附件1：外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. I ndustrial robot is an important branch of industrial robots. It features can be program med to perform tasks in a variety of expectations, in both structure and performance a dvantages of their own people and machines, in particular, reflects the people's intellig ence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad p rospects for development. With the development of industrial automation, there has be en CNC machining center, it is in reducing labor intensity, while greatly improved lab or productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device . The former time-consuming and labor intensive, inefficient; the latter due to design c omplexity, require more relays, wiring complexity, vulnerability to body vibration inte rference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a stron g anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, elec trical hydraulic technology, automatic control technology, sensor technology and com puter technology and other fields of science, is a cross-disciplinary integrated technol ogy.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries thatEurope and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processin g plants have also emerged in mechanical watches began to become increasingly inter ested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the wor kpiece handling, steering, transmission or operation of brazing, spray gun, wrenches a nd other tools for processing and assembly operations since, which has more and mor e attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of part s loading time is not annoying, and labor productivity is not high, the cost of producti on major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long a s there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve saf e production; particularly in the high-temperature, high pressure, low temperature, lo w pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other en ergy-driven comparison have the following advantages: 1. Air inexhaustible, used late r discharged into the atmosphere, does not require recycling and disposal, do not pollu te the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pre ssure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With th e hydraulic transmission, compared to its faster action and reaction, which is one of th e advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, n ot easy to plug the pipeline. But there are also places where it fly in the ointment: 1. A s the compressibility of air, resulting in poor aerodynamic stability of the work, resulti ng in the implementing agencies as the precision of the velocity and not easily control led. 2. As the use of low atmospheric pressure, the output power can not be too large; i n order to increase the output power is bound to the structure of the entire pneumatic s ystem size increased.With pneumatic drive and compare with other energy sources drive has the followin g advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage wo uld not be a serious impact on production. Viscosity of air is small, the pipeline pressu re loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefor e the material and manufacturing accuracy requirements can be lowered. In general, re ciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be saf ely used in flammable, explosive and the dust big occasions. Also easy to realize auto matic overload protection.Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complic ated, but the basic form is the same as the composition of the , Usually by the implem enting agencies, transmission systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawlin g institutions, is used to clamp and release the workpiece, and similar to human finger s, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed .2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system c ommonly used manipulator mechanical transmission, hydraulic transmission, pneuma tic and electric power transmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain p rocedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves a nd circuits can be achieved dynamic drive system control, so that implementing agenc ies according to the requirements of action. Action will have to use complex program mable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the oper ation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third cat egory is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. T his mechanical hand in foreign countries known as the "Mechanical Hand", which is t he host of services, from the host-driven; exception of a few outside the working proc edures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handlin g robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance th e hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, doubl e-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process develo ped a new type of device. In recent years, as electronic technology, especially comput er extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of ro bot, allowing robot to better achieved with the combination of mechanization and auto mation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weig ht characteristics when compared with manual large, therefore, mechanical hand has b een of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lat he, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to ass emble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous go ods and hazardous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application ne eds, creating customized cases. Manual operation of a simulation of the automatic ma chinery, it can be a fixed program draws ﹑ handling objects or perform household to ols to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and a utomation of production, instead of people in hazardous environments manual operati on, improving working conditions and ensure personal safety. The late 20th century, 4 0, the United States atomic energy experiments, the first use of radioactive material ha ndling robot, human robot in a safe room to manipulate various operations and experi mentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place t he work piece material, but also as an auxiliary device in automatic machine tools, ma chine tools, automatic production lines and processing center applications, the comple tion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly b y the hand and sports institutions. Agencies with the use of hands and operation of obj ects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑﹑ electrical device dri vers. Manipulator can be achieved independently retractable ﹑ rotation and lifting m ovements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgic al industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handling objects or operating tools, automatic operation device. It can replace hum an labor in order to achieve the production of heavy mechanization and automation th at can operate in hazardous environments to protect the personal safety, which is wide ly used in machinery manufacturing, metallurgy, electronics, light industry and nuclea r power sectors. Mechanical hand tools or other equipment commonly used for additio nal devices, such as the automatic machines or automatic production line handling an d transmission of the workpiece, the replacement of cutting tools in machining centers , etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as m echanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the wor kpiece (or tool) components, according to grasping objects by shape, size, weight, mat erial and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the com pletion of a variety of hand rotation (swing), mobile or compound movements to achie ve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and mo ving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, esp ecially computer extensive use of robot development and production of high-tech fiel ds has become a rapidly developed a new technology, which further promoted the dev elopment of robot, allowing robot to better achieved with the combination of mechani zation and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipu lator has been applied more and more widely, in the machinery industry, it can be use d for parts assembly, work piece handling, loading and unloading, particularly in the a utomation of CNC machine tools, modular machine tools more commonly used. At pr esent, the robot has developed into a FMS flexible manufacturing systems and flexibl e manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a f lexible manufacturing cell, it was adapted to small and medium volume production, y ou can save a huge amount of the work piece conveyor device, compact, and adaptabl e. When the work piece changes, flexible production system is very easy to change wi ll help enterprises to continuously update the marketable variety, improve product qua lity, and better adapt to market competition. At present, China's industrial robot techno logy and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robo t research and development of a direct impact on raising the level of automation in Ch ina, from the economy, technical considerations are very necessary. Therefore, the stu dy of mechanical hand design is very meaningful.附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

中英文对照外文翻译文献(文档含英文原文和中文翻译)原文：ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial rob ot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and mac hines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operat ions and a variety of environments the ability to complete the work in the field of national econom y and there are broad prospects for development. With the development of industrial automation, t here has been CNC machining center, it is in reducing labor intensity, while greatly improved labo r productivity. However, the upper and lower common in CNC machining processes material, usua lly still use manual or traditional relay-controlled semi-automatic device. The former time-consum ing and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fa ult more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydrau lic technology, automatic control technology, sensor technology and computer technology and oth er fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products ind ustry, although still a labor-intensive, mechanical hand use has become increasingly popular. Elect ronics and automotive industries that Europe and the United States multinational companies very e arly in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, beca use they have to face a high turnover rate of workers, as well as for the workers to pay work-relate d injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and asse mbly operations since, which has more and more attracted our attention. Robot is to imitate the ma nual part of the action, according to a given program, track and requirements for automatic capture , handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading ti me is not annoying, and labor productivity is not high, the cost of production major, and sometime s man-made incidents will occur, resulting in processing were injured. Think about what could rep lace it with the processing time of a tour as long as there are a few people, and can operate 24 hour s saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor produ ctivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularl y in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would l ike to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the comp ressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, do es not require recycling and disposal, do not pollute the environment. (Concept of environmental p rotection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas pa th pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic t ransmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aer odynamic stability of the work, resulting in the implementing agencies as the precision of the velo city and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantage s:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impa ct on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-d istance transport.The lower working pressure of compressed air, pneumatic components and therefore the materi al and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 t o 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of th e outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in fl ammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmis sion systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institution s, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffin g of similar actions. Wrist and fingers and the arm connecting the components can be up and down , left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the ar m can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly us ed manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power tra nsmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated co ntrol system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Actio n will have to use complex programmable robot controller, the micro-computer control. Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not re quire manual hand. It is an independent not affiliated with a particular host device. It can be progra mmed according to the needs of the task to complete the operation of the provisions. It is character ized with ordinary mechanical performance, also has general machinery, memory, intelligence tern ary machinery. The second category is the need to manually do it, called the operation of aircraft. I t originated in the atom, military industry, first through the operation of machines to complete a pa rticular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third category is ded icated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign count ries known as the "Mechanical Hand", which is the host of services, from the host-driven; excepti on of a few outside the working procedures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stac king robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, p neumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, e tc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam cran e)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new ty pe of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology , which further promoted the development of robot, allowing robot to better achieved with the com bination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work an d labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combinat ion machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to asse mble printed circuit boards, in the machinery industry It can be used to assemble parts and compo nents.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working e nvironment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and haza rdous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, ma nual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving tec hnology for material handling operations booster equipment, belonging to kinds of non-standard d esign of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects o r perform household tools to accomplish certain specific actions. Application of robot can replace t he people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and aut omation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe roo m to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unl oading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completio n of the upper and lower material, or From the library take place knife knife and so on according t o fixed procedures for the replacement operation. Robot body mainly by the hand and sports instit utions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pn eumatic ﹑﹑ electrical device drivers. Manipulator can be achieved independently retractable ﹑rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in me tallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handlingobjects or operating tools, automatic operation device. It can replace human labor in order to achie ve the production of heavy mechanization and automation that can operate in hazardous environm ents to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, e lectronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment co mmonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manip ulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or t ool) components, according to grasping objects by shape, size, weight, material and operational re quirements of a variety of structural forms, such as clamp type, type and adsorption-based care suc h as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mo bile or compound movements to achieve the required action, to change the location of objects by g rasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece f eatures automatic device, which is mechanized and automated production process developed a ne w type of device. In recent years, as electronic technology, especially computer extensive use of ro bot development and production of high-tech fields has become a rapidly developed a new technol ogy, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of d uplication of boring work, to reduce human labor intensity and improve labor productivity. Manip ulator has been applied more and more widely, in the machinery industry, it can be used for parts a ssembly, work piece handling, loading and unloading, particularly in the automation of CNC mach ine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component o f the FMC. The machine tool equipment and machinery in hand together constitute a flexible man ufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume pr oduction, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterpr ises to continuously update the marketable variety, improve product quality, and better adapt to ma rket competition. At present, China's industrial robot technology and its engineering application le vel and comparable to foreign countries there is a certain distance, application and industrializatio n 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 necessary. Theref ore, the study of mechanical hand design is very meaningful.译文：机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

机械设计外文文献翻译、中英文翻译unavailable。

The first step in the design process is to define the problem and XXX are defined。

the designer can begin toXXX evaluated。

and the best one is XXX。

XXX.Mechanical DesignA XXX machines include engines。

turbines。

vehicles。

hoists。

printing presses。

washing machines。

and XXX and methods of design that apply to XXXXXX。

cams。

valves。

vessels。

and mixers.Design ProcessThe design process begins with a real need。

Existing apparatus may require XXX。

efficiency。

weight。

speed。

or cost。

while new apparatus may be XXX。

To start。

the designer must define the problem and XXX。

ideas and concepts are generated。

evaluated。

and refined until the best one is XXX。

XXX.XXX。

assembly。

XXX.During the preliminary design stage。

it is important to allow design XXX if some ideas may seem impractical。

they can be corrected early on in the design process。

附录About Modenr Industrial Manipulayor Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapidprogress 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 disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With 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 complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of costand technical lever. The 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 system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any 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 computer architectures and parallel processing techniques.In 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 sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely 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 costs.There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct currentmotors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection.Robot is the automated production of a kind used in the pr ocess of crawling and moving piece features automatic device, wh ich is mechanized and automated production process developed a n ew type of device. In recent years, as electronic technology, e specially computer extensive use of robot development and product ion of hightech fields has become a rapidly developed a new te chnology, which further promoted the development of robot, allowi ng robot to better achieved with the combination of mechanizatio n and automation. Robot can replace humans completed the risk o f duplication of boring work, to reduce human labor intensity a nd improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used f or parts assembly, work piece handling, loading and unloading, p articularly in the automation of CNC machine tools, modular mach ine tools more commonly used. At present, the robot has develop ed into a FMS flexible manufacturing systems and flexible manufa cturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a fle xible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can savea huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production sys tem is very easy to change will help enterprises to continuousl y update the marketable variety, improve product quality, and be tter adapt to market competition. At present, China's industrial robot technology and its engineering application level and comp arable to foreign countries there is a certain distance, applica tion and industrialization of the size of the low level of rob ot research and development of a direct impact on raising the level of automation in China, from the economy, technical consid erations are very necessary. Therefore, the study of mechanical hand design is very meaningful.关于现代工业机械手机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济技术的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。

Machine design theoryThe machine design is through designs the new product or improves the old product to meet the human need the application technical science. It involves the project technology each domain, mainly studies the product the size, the shape and the detailed structure basic idea, but also must study the product the personnel which in aspect the and so on manufacture, sale and use question.Carries on each kind of machine design work to be usually called designs the personnel or machine design engineer. The machine design is a creative work. Project engineer not only must have the creativity in the work, but also must in aspect and so on mechanical drawing, kinematics, engineerig material, materials mechanics and machine manufacture technology has the deep elementary knowledge.If front sues, the machine design goal is the production can meet the human need the product. The invention, the discovery and technical knowledge itself certainly not necessarily can bring the advantage to the humanity, only has when they are applied can produce on the product the benefit. Thus, should realize to carries on before the design in a specific product, must first determine whether the people do need this kind of productMust regard as the machine design is the machine design personnel carries on using creative ability the product design, the system analysis and a formulation product manufacture technology good opportunity. Grasps the project elementary knowledge to have to memorize some data and the formula is more important than. The merely service data and the formula is insufficient to the completely decision which makes in a good design needs. On the other hand, should be earnest precisely carries on all operations. For example, even if places wrong a decimal point position, also can cause the correct design to turn wrongly.A good design personnel should dare to propose the new idea, moreover is willing to undertake the certain risk, when the new method is not suitable, use original method. Therefore, designs the personnel to have to have to have the patience, because spendsthe time and the endeavor certainly cannot guarantee brings successfully. A brand-new design, the request screen abandons obsoletely many, knows very well the method for the people. Because many person of conservativeness, does this certainly is not an easy matter. A mechanical designer should unceasingly explore the improvement existing product the method, should earnestly choose originally, the process confirmation principle of design in this process, with has not unified it after the confirmation new idea.Newly designs itself can have the question occurrence which many flaws and has not been able to expect, only has after these flaws and the question are solved, can manifest new goods come into the market the product superiority. Therefore, a performance superior product is born at the same time, also is following a higher risk. Should emphasize, if designs itself does not request to use the brand-new method, is not unnecessary merely for the goal which transform to use the new method.In the design preliminary stage, should allow to design the personnel fully to display the creativity, not each kind of restraint. Even if has had many impractical ideas, also can in the design early time, namely in front of the plan blueprint is corrected. Only then, only then does not send to stops up the innovation the mentality. Usually, must propose several sets of design proposals, then perform the comparison. Has the possibility very much in the plan which finally designated, has used certain not in plan some ideas which accepts.How does the psychologist frequently discuss causes the machine which the people adapts them to operate. Designs personnel''s basic responsibility is diligently causes the machine to adapt the people. This certainly is not an easy work, because certainly does not have to all people to say in fact all is the most superior operating area and the operating process.Another important question, project engineer must be able to carry on the exchange and the consultation with other concerned personnel. In the initial stage, designs the personnel to have to carry on the exchange and the consultation on the preliminary design with the administrative personnel, and is approved. This generally is through the oral discussion, the schematic diagram and the writing material carries on. In order to carry on the effective exchange, needs to solve the following problem:(1) designs whether this product truly does need for the people? Whether there is competitive ability(2) does this product compare with other companies'' existing similar products?(3) produces this kind of product is whether economical?(4) product service is whether convenient?(5) product whether there is sale? Whether may gain?Only has the time to be able to produce the correct answer to above question. But, the product design, the manufacture and the sale only can in carry on to the above question preliminary affirmation answer foundation in. Project engineer also should through the detail drawing and the assembly drawing, carries on the consultation together with the branch of manufacture to the finally design proposal.Usually, can have some problem in the manufacture process. Possibly can request to some components size or the common difference makes some changes, causes the components the production to change easily. But, in the project change must have to pass through designs the personnel to authorize, guaranteed cannot damage the product the function. Sometimes, when in front of product assembly or in the packing foreign shipment experiment only then discovers in the design some kind of flaw. These instances exactly showed the design is a dynamic process. Always has a better method to complete the design work, designs the personnel to be supposed unceasingly diligently, seeks these better method.Recent year, the engineerig material choice already appeared importantly. In addition, the choice process should be to the material continuously the unceasing again appraisal process. The new material unceasingly appears, but some original materials can obtain the quantity possibly can reduce. The environmental pollution, material recycling aspect and so on use, worker''s health and security frequently can attach the new limiting condition to the choice of material. In order to reduce the weight or saves the energy, possibly can request the use different material. Comes from domestic and international competition, to product service maintenance convenience request enhancement and customer''s aspect the and so on feedback pressure, can urge the people to carry on to the material reappraises. Because the material does not select when created the product responsibility lawsuit, has already had the profoundinfluence. In addition, the material and between the material processing interdependence is already known by the people clearly. Therefore, in order to can and guarantees the quality in the reasonable cost under the premise to obtain satisfaction the result, project engineer makes engineers all to have earnestly carefully to choose, the determination and the use material.Makes any product the first step of work all is designs. Designs usually may divide into several explicit stages: (a) preliminary design; (b) functional design; (c) production design. In the preliminary design stage, the designer emphatically considered the product should have function. Usually must conceive and consider several plans, then decided this kind of thought is whether feasible; If is feasible, then should makes the further improvement to or several plans. In this stage, the question which only must consider about the choice of material is: Whether has the performance to conform to the request material to be possible to supply the choice; If no, whether has a bigger assurance all permits in the cost and the time in the limit develops one kind of new material.In the functional design and the engineering design stage, needs to make a practical feasible design. Must draw up the quite complete blueprint in this stage, chooses and determines each kind of components the material. Usually must make the prototype or the working model, and carries on the experiment to it, the appraisal product function, the reliability, the outward appearance and the service maintenance and so on. Although this kind of experiment possibly can indicate, enters in the product to the production base in front of, should replace certain materials, but, absolutely cannot this point take not earnestly chooses the material the excuse. Should unify the product the function, earnestly carefully considers the product the outward appearance, the cost and the reliability. Has the achievement very much the company when manufacture all prototypes, selects the material should the material which uses with its production in be same, and uses the similar manufacture technology as far as possible. Like this has the advantage very much to the company. The function complete prototype if cannot act according to the anticipated sales volume economically to make, or is prototypical and the official production installment has in the quality and the reliable aspect is very greatly different, then this kind of prototypedoes not have the great value. Project engineer is best can completely complete the material in this stage the analysis, the choice and the determination work, but is not remains it to the production design stage does. Because, is carries on in the production design stage material replacement by other people, these people are inferior to project engineer to the product all functions understanding. In the production design stage, is should completely determine with the material related main question the material, causes them to adapt with the existing equipment, can use the existing equipment economically to carry on the processing, moreover the material quantity can quite be easy to guarantee the supply.In the manufacture process, inevitably can appear to uses the material to make some changes the situation. The experience indicated that, may use certain cheap materials to take the substitute. However, in the majority situation, in will carry on the production later to change the material to have in to start before the production to change the price which the material will spend to have to be higher than. Completes the choice of material work in the design stage, may avoid the most such situations. Started after the production manufacture to appear has been possible to supply the use the new material is replaces the material the most common reason. Certainly, these new materials possibly reduce the cost, the improvement product performance. But, must carry on the earnest appraisal to the new material, guarantees its all performance all to answer the purpose. Must remember that, the new material performance and the reliable very few pictures materials on hand such understood for the people. The majority of products expiration and the product accident caused by negligence case is because in selects the new material to take in front of substitution material, not truly understood their long-term operational performance causes.The product responsibility lawsuit forces designs the personnel and the company when the choice material, uses the best procedure. In the material process, five most common questions are: (a) did not understand or cannot use about the material application aspect most newly the best information paper; (b) has not been able to foresee and to consider the dusk year possible reasonable use (for example to have the possibility, designs the personnel also to be supposed further to forecast and the consideration because product application method not when creates consequence.ecent years many products responsibilities lawsuit case, because wrongly uses theplaintiff which the product receives the injury to accuse produces the factory, and wins the decision); (c) uses the material data not entire perhaps some data are indefinite, works as its long-term performance data is the like this time in particular;(d) the quality control method is not suitable and not after the confirmation; (e) the personnel which completely is not competent for the post by some chooses the material.Through to the above five questions analysis, may obtain these questions is does not have the sufficient reason existence the conclusion. May for avoid these questions to these questions research analyses the appearance indicating the direction. Although uses the best choice of material method not to be able to avoid having the product responsibility lawsuit, designs the personnel and the industry carries on the choice of material according to the suitable procedure, may greatly reduce the lawsuit the quantity.May see from the above discussion, the choice material people should to the material nature, the characteristic and the processing method have comprehensive and thebasic understanding.翻译：机械设计理论机械设计，通过设计新产品或改进老产品，以满足人类需要的应用技术科学。

Model-based Control for 6-DOF ParallelManipulator基于模型的控制六自由度并联机器人Abstract 摘要A novel model-based controller forsix-degree-of-freedom (DOF) parallel manipulator is proposed in this paper,in order to abatement the influence of platform load variety and compel the steady state errors converge to zero 一种新的基于模型的控制器的六自由度并联机器人（自由度）提出，以便消除影响平台负载的品种和迫使稳态误差收敛到零In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallelmanipulator including dynamics based on Kane method and kinematics used closed-form solutions andNewton-Raphson method is built in generalized coordinate system. 在本文中，六自由度并联机器人被描述为多刚体系统，数学模型的六自由度并联机器人基于凯恩方法包括动力学和运动学使用封闭形式的解决方案和牛顿迭代法是建立在广义坐标系统。

The model-based controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. 基于模型的控制器是与气缸位置反馈平台，所需的轨迹和动态重力作为输入和输出的伺服阀电流。

附录外文文献原文：Simple Manipulator And The Control Of ItAlong with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, the perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions, rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient.Matters of the manipulator axial linkage simple structure and action processManipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.Figure 1 Manipulator StructureIts motion control mode is: (1) can rotate by servomotor Angle for 360 °breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360 °can drive the turntable institutions manipulators and bushings free rotation (its electric drag in part by the dc motivation, photoelectric encoder, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhang close when pressed on, put inflatable robot manipulators loosen) when gas.Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion along the horizontal axis of the step-motor controller began to move exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.Vertical axis stepper motor drive up, the other horizontal axis stepper motor driver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve,mechanical hand release the goods; system back to the place ready for the next action.II.Device controlTo achieve precise control purposes, according to market conditions, selection of a variety of keycomponents as follows:1. Stepper motor and driveMechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid stepping motor, step angle of 0.9 ° / 1.8 °, current is 1.5A. M1 is the horizontal axis motor driven manipulator stretch, shrink; M2 is the vertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses 10 ~ 40V DC power supply, H-phase bridge bipolar constant current drive, the maximum output current of 3A of the 8 optional, maximum fine of 64 segments of 7 sub-mode optional optical isolation, standard single-pulse interface, with offline capabilities to maintain semi-sealed enclosure can be adapted to environmental conditions even worse, provide semi-current energy-saving mode automatically. Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltage range, the user can according to their circumstances to choose between the 10 ~ 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state, corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4, 8 segments, 16 segments, 32 segments and 64segments of 7 operating modes. The use of six of the drive panel DIP switches 1,2and3 can be combined from three different states.2. Servo motors and drivesManipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonic's unique algorithms, the rate increased by 2 times the frequency response, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improve accuracy. With a conventional automatic gain adjustment and real-time automatic gainInterest adjustment in the automatic gain adjustment methods, which also has RS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives are a series MSDA5A3A1A, applicable to small inertia motor.3. DC machine360 ° swing of the turntable can be a brushless DC motor driven organization, the system is chosen when the profit company in Beijing and the 57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, low noise, high efficiency. Brushless DC motor drive using the Beijing and when Lee's BL-0408 produced by the drive, which uses 24 ~ 48V DC power supply, a start-stop and steering control, over current, overvoltage and locked rotor protection, and there is failure alarm output external analog speed control,braking down so fast.4. Rotary encoderCan swing 360 °in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieve precise positioning of rotary bodies.5. PLC SelectionAccording to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit, capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easy integration into industrial control systems.III. Software programming1. Software flow chartPLC programming flow chart is based. Only the design flow, it may be smooth and easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2.Figure 2 Software flow chart2. Program partBecause space is limited, here only paper listed the first two program segment for readers see.Figure 3 Program partIV. ConclusionAxis simple robot state by the various movements and PLC control, the robot can not only meet the manual, semi-automatic mode of operation required for such a large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easily embedded into industrial production pipeline.中文译文：简易机械手及控制随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。

中英文资料外文翻译文献附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

工业机械手是工业机器人的一个重要分支。

它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。

机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。

随着工业自动化的发展, 出现了数控加工中心,它在减轻工人的劳动强度的同时, 大大提高了劳动生产率。

但数控加工中常见的上下料工序, 通常仍采用人工操作或传统继电器控制的半自动化装置。

前者费时费工、效率低; 后者因设计复杂, 需较多继电器,接线繁杂, 易受车体振动干扰,而存在可靠性差、故障多、维修困难等问题。

可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力, 保证了系统运行的可靠性,降低了维修率, 提高了工作效率。

机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。

一、工业机械手的概述机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。

在工资水平较低的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。

那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。

但现在的变化是那些分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。

随着我国工业生产的飞跃发展，特别是改革开发以后，自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自化，已愈来愈引起我们重视。

机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。

第一章概述1. 1机械手的发展历史人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。

工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。

从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。

机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。

近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。

许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。

我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。

工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。

这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。

1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。

从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。

因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。

近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。

机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。

特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。

机械手英文文献机器翻译机械手英文文机器译献翻译译外文文献译藏<<?This is a application of Application Ser. No. 10/799,595, filed on Mar. 15, 2004 now U.S. Pat. No. 7,081,700. FIELD OF THE INVENTION The present invention relates to a manipulator such as a minute component assembly apparatus which assembles a minute object such as a micromachine component or unit by using a magnifying observation device such as an optical microscope, electron microscope, or scanning tunneling microscope, or a compact manipulator apparatus which performs diagnosis, medical treatment, research, biological production, or the like by physically manipulating, for example, minute tissues, cells, or genes of a living body and a minute object manipulating apparatus using the manipulator. BACKGROUND OF THE INVENTION There have been known a technique of controlling the posture of a manipulating member (end-effector) by rotating a general size arm using a general size bearing and a technique of performing a necessary process on a minute work in a working device by rotating an arm or tool along an arcuated guide (see, for example, Japanese Patent Laid-Open No. 7-256575). In a conventional apparatus like those described above, if the distal end of an end-effector is not located on the rotation axis of a bearing or arcuated guide, the distal end of the end-effector moves out of the visual field or depth of focus of a microscope due to posture control operation. Thismakes it necessary to position the microscope and the distal end of the end-effector again. As described above, in a manipulator which manipulates a minute object, when the posture of the end-effector at the distal end is controlled, the manipulation target object often moves out of the visual field of the microscope. In a conventional manipulator having three degrees of rotational freedom, in particular, since the rotation axes corresponding to the respective degrees of freedom do not coincide with each other and do not cross at one point, the distal endof the end-effector tends to move out of the visual field or depth of focus of the microscope due to posture control operation. In such a case, the microscope and the distal end of the end-effector must be positioned again. This operation requires a long period of time. SUMMARY OF THE INVENTION It is an object of the present invention to provide a manipulator such as a compact manipulator apparatus which solves the above problems and manipulates a minute target object, and a minute object manipulating apparatus or the like using the manipulator. Inorder to achieve the above object, according to the present invention, there is provided a manipulator comprising: a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes; all the plurality of free rotation axes crossing at one point; and, a manipulation distal end portion of the manipulating member being placed near the intersection. According to this arrangement, the manipulator has a mechanism in which a plurality of (typically three) free rotation axes cross at one point, and the distal end portion of amanipulating member (end-effector) which manipulates a manipulation target object is placed near the intersection. With this structure, even if, for example, the posture of the end-effector is changed, its distal end portion can be made to remain within the visual field of a microscope. The following embodiment can be provided on the basis of the above basic arrangement. According to an embodiment of the present invention, the manipulating member is integrally mounted on a spherical shell movable member, the manipulation distal end portion of the manipulating member is placed near the center of the spherical shell movablemember, the spherical shell movable member is in contact with a vibration member which can vibrate, and rotation of the spherical shell movable member around the center thereof is controlled by controlling vibration of the vibration member, thereby controlling a posture of the manipulating member. When the rotation of the movable member in the form of a spherical shell is controlled by controlling the vibration of the vibration member, the distal end portion of the end-effector is made to remain within the visual field of the microscope even if the posture of the end-effector is changed. According to another embodiment of the present invention, the manipulator further comprises: first rotating means for rotating a first rotating shaft on which a first arm is mounted; second rotating means for rotating a second rotating shaft which is mounted on the first arm and on which a second arm is mounted; and third rotating means for rotating a third rotating shaft which ismounted on the second arm and on which a third arm is mounted, wherein the manipulating member is mounted on the third rotating shaft, and the first, second, and third rotating shafts pass through a manipulation distal end portion of the manipulating member. In addition, in order to achieve the above object, according to the present invention, there is provided a minute object manipulating apparatus comprising: a manipulator comprising a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes, all the plurality of free rotation axes crossing at one point, and a manipulation distal end portion of the manipulating member being placed near the intersection; a magnifying observation device for magnifying observation of the manipulation target object and the manipulationdistal end portion of the manipulating member; and a remote controller for remotely controlling the manipulator. This apparatus also makes the most of the advantages of the above manipulator. In addition, for example, the manipulator can be placed on the upper side of a manipulation target object, and the magnifying observation device can be placed on the lower side of the manipulation target object. Other features and advantages of the present invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts throughout the figures thereof. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the presentinvention will now be described in detail in accordance with the accompanying drawings. First Embodiment The first embodiment of the present invention will be described first with reference to FIGS. 1 and 2A to 2D. This embodiment uses a mechanism in which all the axes corresponding to three degrees of rotational freedom cross at one point. In this system, the center of the distal end manipulating portion of an end-effector is placed near the center of the spherical rotating member of a vibration actuator having three degrees of freedom like the one disclosed in Japanese Patent Laid-Open No. 11-220891. In such avibration actuator, rotation axes can be arbitrarily set. Since all the rotation axes pass through the center of a spherical rotating member, a simple system with high rigidity can be formed by using this actuator. As a sensor for feeding back the position and velocity of the spherical rotating member, a two-dimensional position sensor using a detection principle like that disclosed in Japanese Patent Laid-Open No. 10-65882 is suitably used. This sensor irradiates a spherical surface with light emitted from an irradiation source based on the optical mouse system or the like to form an irradiation pattern constituted by a high-luminance region and a relatively low-luminance region corresponding to the minute shape of the spherical surface. Movement information is then obtained by using the movement of the irradiation pattern based on the relative movement between the spherical surface and the sensor. FIG. 1 is a view which is most indicative of the main part of this embodiment. Reference numerals 20-1, 20-2, and20-3 denote the first, second, and third elastic member vibration elements of a multiple degree-of-freedom vibration actuator, respectively; and 1-1 and 1-2, piezoelectric ceramics which generate bending vibrations and longitudinal vibrations, respectively. Each vibration element 20 is fixed/supported on a frame (not shown) with an arm portion (see 1#x2013;2#x2032; in FIG. 6) extending from an electrode plate portion for a piezoelectric ceramic in the radial direction. The driving principle and arrangement of the multiple degree-of-freedom vibration actuator will be described in detail later. Reference numeral 2 denotes a movable member in the form of a spherical shell whose spherical surface comes into contact with the vibration element 20-1. In this embodiment, only a portion of the movable member 2 is a spherical surface, which comes into contact with the vibration element 20-1. The mechanism of driving control will be described later. Reference numeral 3 denotes a micro-hand which is integrally mounted on the mount portion of the lower portion of the movable member 2 in the form of a spherical shell. The micro-hand 3 has manipulation functions such as a function of grasping or releasing a minute object such as a cell and a function of performing a process such as forming a hole in a minute object orcutting it. The micro-hand 3 is placed near the center of the spherical surface of the movable member 2. Reference numeral 4 denotes a vessel in which a minute object such as a cell is stored. The vessel 4 is made of a transparent material such as glass. A liquid such as physiological saline solution is often contained in the vessel 4. Reference numeral 5denotes an X-Y or X-Y-Z stage which can adjust the relative position between the micro-hand 3 and a minute object as a manipulation target object by adjusting the position of the vessel 4 on the stage; and 6, a magnifying observation device such as a microscope, which magnifies images of the manipulation target object and micro-hand 3 to allow observation of them. Referring to FIG. 1, the magnifying observation device 6 allows observation from below the transparent vessel 4 through the hole in the center of the X-Y-Z stage 5. Reference numeral 7 denotes a magnet which attracts and holds the movable member 2 made of iron, and also has a function of bringing the spherical surface of the movable member 2 into contact with the vibration element 20-1 with a constant pressure. The details of the multiple degree-of-freedom vibration actuator will be described. FIGS. 2A to 2D show the driving principle of this vibration actuator. A piezoelectric element 33 serving as anelectro-mechanical energy converting element which provides the displacements shown in FIGS. 2B to 2D is clamped/fixed betweencylindrical elastic members 31 each serving as a single vibration member. The piezoelectric element is formed by stacking a plurality of single piezoelectric element plates with electrode plates being inserted between the piezoelectric element plates as needed. This allows an alternating signal for driving to be applied to each necessary piezoelectric element plate. In this case, the piezoelectric element 33 repeats expansion and contraction displacements in the axial direction upon application of alternating signals, and includes the firstpiezoelectric element which excites longitudinal vibration as a displacement in the direction of the z-axis of the three axes, i.e., the x-axis, y-axis, and z-axis, as shown in FIG. 2B, the secondpiezoelectric element which excites transverse (bending) vibrationwithin the z-x plane as shown in FIG. 2C, and the third piezoelectric element which excites transverse (bending) vibration within the z-y plane as shown in FIG. 2D. The above first piezoelectric element is uniformly polarized in the thickness direction. Each of the second and third piezoelectric elements is polarized such that the portions on both sides of the diameter have opposite polarities in the thickness direction. When, for example, alternating signals having a phase difference of 90#xb0; are applied to the second and third piezoelectric elements, two bending vibrations in the vibration member combine to form anelliptic motion around the z-axis (within the x-y plane) on the surface of the vibration member. In this case, since the natural frequency of the vibration member with respect to the x-axis is almost equal to that with respect to the y-axis, the above elliptic vibration can be generated by applying alternating signals having this natural frequency as a driving frequency to the second and third piezoelectric elements. When an alternating signal having a frequency almost equal to the natural frequency in the z-axis direction of the vibration member is applied to the first piezoelectric element, the vibration member repeats longitudinal vibration of the primary mode at a predetermined period. Inthis case, when an alternating signal is applied to the second piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the x-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the x-axis direction (around the y-axis). In this case, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of the primary mode of bending vibration in the x-z plane, the second piezoelectric element is drivenin the secondary mode of the natural frequency of bending vibration in the x-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2C. Likewise, when an alternating signal is applied to the third piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the y-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the y-axis direction (around the x-axis). In this case, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of bending vibration within the y-z plane, the third piezoelectric element is driven in the secondary mode of the natural frequency of bending vibration in the y-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2D. That is, when an alternatingsignal having a frequency similar to the natural frequency of avibration member 1, e.g., an AC voltage, is applied to the first, second, and third piezoelectric elements, longitudinal vibration or transverse (bending) vibration having a natural frequency is excited in thevibration member as shown in FIGS. 2B to 2D. When an alternating signalis selectively applied to two of the first, second, and third piezoelectric elements, the longitudinal vibration of the vibration member 1 is combined with transverse (bending) vibration in a direction perpendicular to that of the longitudinal vibration to produce anelliptic motion at a point on the surface of the vibration member 1. For example, the vibrations shown in FIGS. 2B and 2C are combined with each other to produce an elliptic motion within the x-z plane. When the vibrations shown in FIGS. 2B and 2D are combined with each other, an elliptic motion within the y-z plane is produced. When the vibrations shown in FIGS. 2C and 2D are combined with each other, an ellipticmotion within the x-y plane is produced. When, therefore, a movable member (the movable member 2 in FIG. 1) is pressed against a portion of the vibration member, the movable member can be driven in a plurality of directions. In this case, elliptic motions around the three axes (within three orthogonal planes) can be produced by combining three-phase piezoelectric elements (first, second, and third piezoelectric elements). This makes it possible to realize a vibration actuator which can be driven within three orthogonal planes by using a single vibration member. FIG. 1 shows the basic arrangement of a vibration member in thevibration actuator of this embodiment shown in FIG. 1. In this case, the vibration member includes the first elastic member vibration element 20-1 having a female threaded portion formed in the inner diameterportion and the second and third elastic member vibration elements20-2 and 20-3 each having a hole formed in a central portion. The piezoelectric elements 1-2 and 1-1 are placed between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 and between the second elastic member vibration element 20-2 and the third elastic member vibration element 20-3. A fastening bolt 22 which is inserted from the third elastic member vibration element 20-3 side and serves as a central shaft member is screwed in the female threaded portion of the first elastic member vibration element 20-1. With this structure, the piezoelectric elements 1-2 and 1-1 are clamped between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 and between the second elastic member vibration element 20-2 and the third elastic member vibration element 20-3 so as to be integrally coupled to each other. In this embodiment, the piezoelectric element 1-2 placed between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 is the first piezoelectric element which excites, for example, longitudinal vibration in the vibration member. The piezoelectric element 1-1 placed between the second elastic member vibration element 20-2 and the third elastic member vibration element20-3 includes the second piezoelectric element which produces bendingvibration within the x-z plane and the third piezoelectric element which produces bending vibration within the y-z plane. The second and third piezoelectric elements are so positioned as to have a phase difference of 90#xb0;. The inner surface of the distal end portion of the first elastic member vibration element 20-1, which comes into contact with the movable member 2 in the form of a spherical shell and is oblique with respect to the axis, is formed into a tapered surface. In this embodiment, therefore, the movable member 2 in the form of a spherical shell can be rotated about the x-axis, y-axis, and z-axis by combining two kinds of vibrations of longitudinal vibration and vibrations in the two directions which are produced in the vibration member. For example, a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the z-axis, a combination of the vibrations shown in FIGS. 2B and 2C can rotate the movable member 2 about the y-axis, and a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the x-axis. That is, the movable member 2 can rotate about three orthogonal axes. By controlling the vibrations of the vibration elements 20, the movable member 2 can be rotated/controlled about an arbitrary axis. In this case, since the micro-hand 3 is located at the center of the spherical surface of the movable member 2, only the posture of the micro-hand 3 always changes at the same position. Even if posture control operation is done, since the position of the micro-hand 3 does not change, the manipulation target object never moves out of the visual field of the microscope 6. The above description has exemplifiedcontrol on the posture of the micro-hand 3. When, however, the posture of a manipulation target object such as a cell is to controlled, it suffices if the posture of the micro-hand 3 is changed after the manipulation target object is grasped by the micro-hand 3, and then the manipulation target object is released. In this case as well, since the position of the manipulation target object does not change, it never moves out of the visual field of the microscope 6. In the apparatus of this embodiment, the relative position of a manipulation target object can be adjusted by the X-Y-Z stage 5, and the posture and direction of the object can be adjusted by controlling the vibrations of thevibration elements 20-1 to 20-3. Although FIG. 1 shows the rod-like vibration elements, vibration elements like those shown in FIGS. 3A to3D or FIGS. 4A to 4D may be used. According to the form of the vibration actuator shown in FIGS. 3A to 3D, a single vibration member 200 is formed by joining a cylindrical elastic member 201 to a disk-likeelastic member202. The elastic member 201 is actually divided into two portions, and piezoelectric elements 203 and 204 serving as two electro-mechanical energy converting elements are clamped between the two portions. Piezoelectric elements 205a to 205d serving as four electro-mechanical energy converting elements are arranged on the surface of the disk-like elastic member 202. The piezoelectric element 203 is used to displace the elastic member 201 serving as a driving portion in the x-axis direction, as shown in FIG. 3C. The piezoelectric element 204 is used todisplace the elastic member 201 in the y-axis direction. As shown in FIG. 3B, the piezoelectric elements 203 and 204 have a polarization phase difference of 90#xb0;. On the other hand, all the piezoelectric elements 205a to 205d are polarized to have the same characteristics. When the disk-like elastic member 202 is bent as shown in FIG. 3D, the elastic member 201 serving as a driving portion is displaced in the z-axis direction. A spherical movable member 206 (the movable member 2 in FIG. 1) is in contact with the elastic member 201 serving as a driving portion. The movable member 206 can be rotated about the x-axis by supplying alternating signals to the piezoelectric element 204 and the piezoelectric elements 205a to 205d with, for example, a phasedifference of 90#xb0;. By supplying alternating signals to the piezoelectric element 203 and the piezoelectric elements 205a to 205d with, for example, a phase difference of 90#xb0;, the movable member 206 can be rotated about the y-axis. When the movable member 206 is to be rotated about z-axis, alternating signals are supplied to the piezoelectric elements 203 and 204 with, for example, a phase difference of 90#xb0; According to the form of the vibration actuator shown in FIGS. 4A to 4D, a single vibration member 300 is formed by joining acylindrical elastic member 301 to a disk-like elastic member 302. The elastic member 301 incorporates a permanent magnet (not shown) to always attract a movable member 306 (the movable member 2 in FIG. 1) made of a magnetic material so as to obtain a pressing force. Four piezoelectric elements (polarized regions) 303a to 303d serving as electro-mechanicalenergy converting elements are arranged on the surface of the elastic member 302. By selectively supplying alternating signals to the piezoelectric elements 303a to 303d, the elastic member 301 serving as a driving portion can be displayed in the x-axis direction, y-axis direction, or z-axis direction, as shown in FIGS. 4B to 4D. When the movable member 306 is to be rotated about the x-axis, a displacement in the y-axis direction (FIG. 4C) and a displacement in the z-axisdirection (FIG. 4D), may be provided with, for example, a phase difference of 90#xb0;. When the movable member 306 is to be rotated about the y-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the z-axis direction (FIG. 4D) may be provided with, for example, a phase difference of 90#xb0;. When the movable member 306 is to be rotated about the z-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the y-axis direction (FIG. 4C) may be provided with, for example, a phase difference of 90#xb0;. Alternating signals are supplied to the piezoelectric elements 303a to 303d in the same manner as in the form shown in FIGS. 3A to 3D. Alternatively, a plate-like vibration member like the one disclosed in Japanese Patent Laid-Open No. 2002-272147 may be used. FIG. 5 shows this vibration member. In this case, contact projections PC1 to PC4 are integrally formed at almost the middle portions of the four sides of a plate-like vibration member 402. A projection PG having a magnet 405 for attracting a movable member (the movable member 2 in FIG. 1) is formed at a central portion of the vibration member, and projections PE1 to PE4 are formedat the four corners of the vibration member. A vibration element 401 is formed by bonding/fixing a piezoelectric element 403 to the vibration member 302. The piezoelectric element 403 is driven to excite three different natural vibration modes in the vibration element 401. Combining thesemodes makes it possible to realize multiple degree-of-freedomdriving, e.g., rotation about three orthogonal axes and rotation in two directions and about one axis. Referring to FIG. 1, the micro-hand 3 serving as an end-effector is placed in the center of the spherical movable member 2. However, the present invention is not limited to this. For example, the micro-hand 3 may be replaced with a micro-tool which cuts a manipulation target object or forms a hole in the object. Second Embodiment FIG. 6 is a view for explaining the second embodiment of the present invention. Since reference numerals 1 to 5, 7, 20, and 22 in FIG.1 denote the same parts as in FIG. 6, a description thereof will be omitted. Reference numerals 6-1 and 6-2 denote microscopes formagnifying observation. In this embodiment, more visual information is acquired by using two microscopes placed at upper and lower positions, thereby improving operability. The two microscopes may have the same magnification power. However, decreasing the magnification of the lower microscope 6-1 to allow observation with a wide visual field will allow both observation with a low magnification and a wide visual field and observation with a high magnification and a narrow visual field. Reference numerals 8-1 and 8-2 denote optical sensors, which detectrelative position changes of vibration elements 20 and movable member 2.A technique like that disclosed in Japanese Patent Laid-Open No. 10-65882 can be used. The sensors 8-1 and 8-2 are identical sensors. The rotation axis and rotational speed of the movable member 2 can be obtained from movement information at two positions on the spherical surface. The sensors 8-1 and 8-2 are not limited to this system as long as they are two-dimensional position sensors. Although an example of a non-contact optical system is shown in FIG. 6, for example, a ball mouse system maybe used, in which the rotation of balls in contact with the movable member 2 are separately detected as rotation components around two axes in two directions. The sensors 8-1 and 8-2 are mounted on a base 10 with a fixed frame 9. The vibration elements 20 are mounted on the fixed frame 9 with arm portions 1#x2013;2#x2032; radially extending from an electrode plate portion for a piezoelectric ceramic1#x2013;2#x2032;. Other points are the same as those in the first embodiment. FIG. 7 shows a modification in which the axis of themultiple degree-of-freedom vibration actuator is tilted. For example, the structure shown in FIG. 7 is effective for a case wherein two micro-hands 3 are used. The multiple degree-of-freedom vibration actuator may be located in any direction as long as the microscope 6 and stage 5 do not interfere with each other even if the spherical shell of the movable member 2 rotates in various directions. However, a wider movable range of the movable member 2 can be ensured by matching the optical axis of the microscope 6 with the axis of the multiple degree-of-freedomvibration actuator as shown in FIGS. 1 and 6. Third Embodiment FIG. 8 is a view for explaining the third embodiment. In this system, the rotating axes, each having one degree of freedom, are made to cross at one point, and the center of an end-effector is located near the intersection. Each axis is driven and controlled by a general rotary motor. However, an ultrasonic motor, electrostatic motor, or the like may be used. A system can be formed by using a general rotary encoder as a sensor which feeds back position information and velocity information. FIG. 8 shows only a mechanism which controls the posture of a micro-hand 3. Although an X-Y-Z stage 5 and microscope 6 are arranged in the same manner as in the above embodiments, an illustration thereof is omitted in FIG. 8. Reference numeral 11 denotes a general rotary motor, which incorporates a position sensor such as an encoder. The rotary motor 11 is fixed to a fixed frame 9 along the z-axis which is the optical axis of the microscope 6 (not shown). An arm 15 is mounted on a rotating shaft 14. A rotary motor 12 similar to the rotary motor 11 is mounted on the distal end of the arm 15. An axis Z of the rotary motor 11is perpendicular to an axis Y of the rotary motor 12. An arm 17 is also mounted on a rotating shaft 16 of the rotary motor 12. A similar rotary motor 13 is also mounted on the distal end of the arm 17. The axis Y of the rotary motor 12 is perpendicular to an axis X of therotary motor 13. The micro-hand 3 is mounted on the distal end of a rotating shaft 18 of the rotary motor 13. The rotating shafts of the rotary motors 11, 12, and 13 pass through the distal end portion of the。

This is a application of Application Ser。

No。

10/799，595, filed on Mar. 15，2004 nowoptical mouse system or the like to form an irradiation pattern constituted by a high—luminance region and a relatively low—luminance region corresponding to the minute shape of the spherical surface。

Movement information is then obtained by using the movement of the irradiation pattern based on the relative movement between the spherical surface and the sensor。

FIG. 1 is a view which is most indicative of the main part of this embodiment. Reference numerals 20-1，20—2, and 20—3 denote the first, second, and third elastic member vibration elements of a multiple degree—of—freedom vibration actuator, respectively；and 1-1 and 1—2，piezoelectric ceramics which generate bending vibrations and longitudinal vibrations, respectively。

英语文献翻译Introduction of MachiningHave a shape as a processing method, all machining process for the production of the most commonly used and most important method. Machining process is a process generated shape, in this process, Drivers device on the work piece material to be in the form of chip removal. Although in some occasions, the workpiece under no circumstances, the use of mobile equipment to the processing, However, the majority of the machining is not only supporting the workpiece also supporting tools and equipment to complete.Machining know the process has two aspects. Small group of low-cost production. For casting, forging and machining pressure, every production of a specific shape of the workpiece, even a spare parts, almost have to spend the high cost of processing. Welding to rely on the shape of the structure, to a large extent, depend on effective in the form of raw materials. In general, through the use of expensive equipment and without special processing conditions, can be almost any type of raw materials, mechanical processing to convert the raw materials processed into the arbitrary shape of the structure, as long as the external dimensions large enough, it is possible. Because of a production of spare parts, even when the parts and structure of the production batch sizes aresuitable for the original casting, Forging or pressure processing to produce, but usually prefer machining.Strict precision and good surface finish, machining the second purpose is the establishment of the high precision and surface finish possible on the basis of. Many parts, if any other means of production belonging to the large-scale production, Well Machining is a low-tolerance and can meet the requirements of small batch production. Besides, many parts on the production and processing of coarse process to improve its general shape of the surface. It is only necessary precision and choose only the surface machining. For instance, thread, in addition to mechanical processing, almost no other processing method for processing. Another example is the blacksmith pieces keyhole processing, as well as training to be conducted immediately after the mechanical completion of the processing.Primary Cutting ParametersCutting the work piece and tool based on the basic relationship between the following four elements to fully describe : the tool geometry, cutting speed, feed rate, depth and penetration of a cutting tool.Cutting Tools must be of a suitable material to manufacture, it must be strong, tough, hard and wear-resistant. Tool geometry -- to the tip plane and cutter angle characteristics -- for each cutting process must be correct.Cutting speed is the cutting edge of work piece surface rate, it is inches per minute to show. In order to effectively processing, and cutting speed must adapt to the level of specific parts -- with knives. Generally, the more hard work piece material, the lower the rate.Progressive Tool to speed is cut into the work piece speed. If the work piece or tool for rotating movement, feed rate per round over the number of inches to the measurement. When the work piece or tool for reciprocating movement and feed rate on each trip through the measurement of inches. Generally, in other conditions, feed rate and cutting speed is inversely proportional to.Depth of penetration of a cutting tool -- to inches dollars -- is the tool to the work piece distance. Rotary cutting it to the chip or equal to the width of the linear cutting chip thickness. Rough than finishing, deeper penetration of a cutting tool depth.Rough machining and finishing machiningThere are two kinds of cuts in machine- shop work called, respectively, the "roughing cut" and the "finishing cut". When a piece is "roughed out", it is quite near the shape and size required, but enough metal has been left on the surface to finish smooth and to exact size." Generally speaking, bars of steel, forging, castings, etc. are machined to the required shape and size with only one roughing and one finishing cut. Sometimes, however, certain portions of a piece may require more thanone roughing cut. Also, in some jobs, for example, when great accuracy is not needed, or when a comparatively small amount of metal must be removed, a finishing cut may be all that is required. The roughing cut, to remove the greater part of the excess material, should be reasonably heavy, that is, all the machine, or cutting tool, or work, or all three, will stand. So the machinist’s purpose is to remove the excess stock as fast as he can without leaving, at the same time, a surface too torn and rough, without bending the piece if it is slender, and without spoiling the centers. The finishing cut, to make the work smooth and accurate, is a finer cut. The emphasis here is refinement - very sharp tool, comparatively little metal removed, and a higher degree of accuracy in measurement. Whether roughing or finishing, the machinist must set the machine for the given job. He must consider the size and shape of the work and the kind of material, also the kind of tool used and the nature of the cut to be made, then he proceeds to set the machine for the correct speed and feed and to set the tool to take the depth of cut desired.Automatic Fixture DesignAssembly equipment used in the traditional synchronous fixture put parts of the fixture mobile center, to ensure that components from transmission from the plane or equipment plate placed after removal has been scheduled for position. However, in certain applications, mobile mandatory parts of the center line, it may cause parts or equipmentdamage. When parts vulnerability and may lead to a small vibration abandoned, or when their location is by machine spindle or specific to die, Tolerance again or when the request is a sophisticated, it would rather let the fixture to adapt to the location of parts, and not the contrary. For these tasks, Elyria, Ohio, the company has developed Zaytran a general non-functional data synchronization West category FLEXIBILITY fixture. Fixture because of the interaction and synchronization devices is independent; the synchronous device can use sophisticated equipment to replace the slip without affecting the fixture force. Fixture specification range from 0.2 inches itinerary, 5 pounds clamping force of the six-inch trip, 400-inch clamping force. The characteristics of modern production are becoming smaller and smaller quantities and product specifications biggest changes. Therefore, in the final stages of production, assembly of production, quantity and product design changes appear to be particularly vulnerable. This situation is forcing many companies to make greater efforts to rationalize the extensive reform and the previously mentioned case of assembly automation. Despite flexible fixture behind the rapid development of flexible transport and handling devices, such as backward in the development of industrial robots, it is still expected to increase the flexibility fixture. In fact the important fixture devices -- the production of the devices to strengthen investment on the fixture so that more flexibility in economic support holders.According to their flexibility and fixture can be divided into: special fixture, the fixture combinations, the standard fixture, high flexible fixture. Flexible fixture on different parts of their high adaptability and the few low-cost replacement for the characteristic.Forms can transform the structure of the flexible fixture can be installed with the change of structure components (such as needle cheek plate, Multi-chip components and flake cheek plate), a non-standard work piece gripper or clamping elements (for example: commencement standard with a clamping fixture and mobile components fixture supporting documents), or with ceramic or hardening of the intermediary substances (such as : Mobile particle bed fixture and heat fixture tight fixture). To production, the parts were secured fixture, the need to generate clamping function, its fixture with a few unrelated to the sexual submissive steps.According to the processing was part of that foundation and working characteristics to determine the work piece fixture in the required position, then need to select some stability flat combination, These constitute a stable plane was fixed in the work piece fixture set position on the clamp-profile structure, all balanced and torque, it has also ensured that the work features close to the work piece. Finally, it must be calculated and adjusted, assembly or disassembly be standard fixture components required for the position, so that the work piece firmly by clampingfixture in China. In accordance with this procedure, the outline fixture structure and equipped with the planning and recording process can be automated control.Structural modeling task is to produce some stable flat combination, Thus, these plane of the work pieces clamping force and will fixture stability. According to usual practice, this task can be human-machine dialogue that is almost completely automated way to completion. A man-machine dialogue that is automated fixture structure modeling to determine the merits can be conducted in an organized and planning fixture design reduce the amount of the design, shortening the study period and better distribution of work conditions. In short, can be successfully achieved significantly improve fixture efficiency and effectiveness.Fully prepared to structure programs and the number of material circumstances, the completion of the first successful assembly can save up to 60% of the time.Therefore fixture process modeling agencies is the purpose of the program has appropriate documents.机械加工机械加工是所有制造过程中最普遍使用的而且是最重要的方法。

密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Simple Manipulator And The Control Of It 译文标题简易机械手及控制作者所在系别机械工程系作者所在专业xxxxx作者所在班级xxxxxxxx作者姓名xxxx作者学号xxxxxx指导教师姓名xxxxxx指导教师职称副教授完成时间2012 年02 月北华航天工业学院教务处制译文标题简易机械手及控制原文标题 Simple Manipulator And The Control Of It作者机电之家译名JDZJ国籍中国原文出处机电之家中文译文：简易机械手及其控制随着社会生产力的持续进步和人们生活节奏的日益加快,人们对生产效率也提出了新要求。

而由于微电子技术和计算软、硬件技术的迅速发展和现代控制理论的不断完善,使得机械手技术也快速发展起来,其中气动机械手系统由于其介质来源简便且无污染、组件价格低廉、维修方便以及系统安全可靠等特点,已渗透到工业领域的各个部门,在工业发展中占有重要地位。

本文讲述的气动机械手由气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。

主要作用是完成机械部件的搬运工作,能使用于各种不同的生产线或物流流水线中,使得零件搬运、货物运输更快捷、便利。

一.四轴联动简易机械手的结构及动作过程机械手结构如下图1所示,有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。

图1.机械手结构其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点);(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关);(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成);(4)旋转基座主要支撑以上3部分;(5)气控机械手的张合由气压控制(充气时机械手抓紧,放气时机械手松开)。