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南京理工大学泰州科技学院毕业设计(论文)任务书学院(系):机械工程学院专 业:机械工程及自动化学 生 姓 名:朱岩岩学 号: 0601510115设计(论文)题目:机械手设计起 迄 日 期: 2010年3月22日6月27日设计(论文)地点:南京理工大学泰州科技学院指 导 教 师:吴萍专业负责人:发任务书日期: 2010年 3月 12日任务书填写要求1毕业设计(论文)任务书由指导教师根据各课题的具体情况填写,经学生所在专业的负责人审查、系部领导签字后生效。此任务书应在第七学期结束前填好并发给学生;2任务书内容必须用黑墨水笔工整书写或按教务处统一设计的电子文档标准格式(可从教务处网页上下载)打印,不得随便涂改或潦草书写,禁止打印在其它纸上后剪贴;3任务书内填写的内容,必须和学生毕业设计(论文)完成的情况相一致,若有变更,应当经过所在专业及系部主管领导审批后方可重新填写;4任务书内有关“系部”、“专业”等名称的填写,应写中文全称,不能写数字代码。学生的“学号”要写全号;5任务书内“主要参考文献”的填写,应按照国标GB 77142005文后参考文献著录规则的要求书写,不能有随意性;6有关年月日等日期的填写,应当按照国标GB/T 74082005数据元和交换格式、信息交换、日期和时间表示法规定的要求,一律用阿拉伯数字书写。如“2009年3月15日”或“2009-03-15”。毕 业 设 计(论 文)任 务 书1本毕业设计(论文)课题应达到的目的:通过这次毕业设计使学生初步掌握机械设计、PLC控制设计、液压系统设计的方法及基本步骤。掌握技术文件编写的格式。2本毕业设计(论文)课题任务的内容和要求(包括原始数据、技术要求、工作要求等):2.1课题任务的内容数控机床上下料机械手的设计2.2课题任务的要求首先根据数控机床的总体结构,确定合适的机械手的运动空间,然后根据机械手的运动空间要求确定机械手的总体结构、手臂结构、夹持方法等,设计液压系统原理图。画出总装备图,然后根据装备图设计零件图。毕 业 设 计(论 文)任 务 书3对本毕业设计(论文)课题成果的要求包括毕业设计论文、图表、实物样品等:一、图纸量要求:总图纸量大于3张0#图二、说明书要求条理清楚、说明正确,总字数大于1.2万字4主要参考文献:1 杨黎明. 机床夹具设计手册. 北京:国防工业出版社,1996.2 杨培元,朱福元. 液压系统设计简明手册. 北京:机械工业出版社,1994.3 徐灏编. 新编机械设计师手册. 北京:机械工业出版社,1995.4 叶伟昌. 机械工程及自动化简明设计手册(上册) . 北京:机械工业出版社,2001.5 叶伟昌编. 机械工程及自动化简明设计手册(下册) . 北京:机械工业出版社,2001.6 徐锦康. 机械设计. 北京:高等教育出版社,2004.7 成大先. 机械设计手册M. 北京:化学工业出版社出版,2002.8 徐锦康. 机械设计. 北京:机械工业出版社,2001.9 王伯平. 互换性与测量技术基础. 北京:机械工业出版社,2001.10 袁国定,朱洪海. 机械制造技术基础. 南京:东南大学出版社,2000.毕 业 设 计(论 文)任 务 书5本毕业设计(论文)课题工作进度计划:起 迄 日 期工 作 内 容2010年 3月 12日 3月 28日 3月 29日 4月 4日4月 5日 4月 11日4月 12日 4月 18日4月 19日 4月 25日4月 26日 5月 9日5月 10日 5月 23日5月 24日 6月 6日6月 7日 6月 20日6月 21日 6月 27日熟悉课题,调研,确定设计方案,完成开题报告。完成外文翻译。总体设计,方案论证。完成部件设计初稿。部件设计定稿。完成零件设计初稿。零件设计定稿。完成说明书初稿毕业设计定稿论文答辩所在专业审查意见:负责人: 年 月 日学院(系)意见:院(系)领导: 年 月 日南京理工大学泰州科技学院毕业设计(论文)前期工作材料学生姓名:朱岩岩学 号:0601510115学院(系):机械工程学院专 业:机械工程及自动化设计(论文)题目:机械手设计指导教师:吴萍高级工程师 (姓 名) (专业技术职务) 材 料 目 录序号名 称数量备 注1毕业设计(论文)选题、审题表12毕业设计(论文)任务书13毕业设计(论文)开题报告含文献综述14毕业设计(论文)外文资料翻译含原文15毕业设计(论文)中期检查表12010年6月 南京理工大学泰州科技学院毕业设计(论文)外文资料翻译学院 (系): 机械工程学院 专 业: 机械工程及自动化 姓 名: 朱岩岩 学 号: 0601510115 (用外文写)外文出处: Manufacturing Engineering and TechnologyMachining 附 件: 1.外文资料翻译译文;2.外文原文。 指导教师评语:语言简练,译文基本符合原意,专业术语准确。 签名: 2010年 3月 30日注:请将该封面与附件装订成册。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。在现实生活中,你是否会发现这样一个问题。在机械工厂里,加工零件装料的时候是不是很烦的,劳动生产率不高,生产成本大,有时候还会发生一些人为事故,导致加工者受伤。想想看用什么可以来代替呢,加工的时候只要有几个人巡视一下,且可以二十四个小时饱和运作,人行吗?回答是肯定的,但是机械手可以来代替它。生产中应用机械手可以提高生产的自动化水平和劳动生产率;可以减轻劳动强度、保证产品质量、实现安全生产;尤其是在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣的环境中能够代替人进行正常的工作。想到这里我就很想设计一个机械手,来用于生产实际中。为什么选着设计机械手用气动来提供动力:气动机械手是指以压缩空气为动力源驱动的机械手。用气压驱动与其他能源驱动比较有以下优点:1.空气取之不竭,用过之后排入大气,不需要回收和处理,不污染环境。(环保的概念)2.空气的沾性很小,管路中压力损失也很小(一般气路阻力损失不到油路的千分之一),便于远距离输送。3.压缩空气的工作压力较低(一般为48公斤/每平方厘米),因此对动元件的材质和制造精度要求可以降低。4.与液压传动相比,它的动作和反应都快,这是气动突出的优点之一。5.空气介质清洁,亦不会变质,管路不易堵塞。但是也有它美中不足的地方:1.由于空气的可压缩性,致使气动工作的稳定性差,因而造成执行机构运动速度和定为精度不易控制。2.由于使用气压较低,输出力不可能太大,为了增加输出力,必然使整个气动系统的结构尺寸加大。用气压驱动与用其他能源驱动比较有以下优点:空气取之不竭,用过之后排入大气,不需回收和处理,不污染环境。偶然的或少量的泄漏不致对生产发生严重的影响。空气的粘性很小,管路中压力损失也就很小,便于远距离输送。压缩空气的工作压力较低,因此对气动元件的材质和制造精度要求可以降低。一般说来,往复运动推力在12吨以下采用气动经济性较好。与液压传动相比,它的动作和反应都快,这是气动的突出优点之一。空气介质清洁,亦不会变质,管路不易堵塞。它可安全地应用在易燃、易爆和粉尘大的场合。又便于实现过载自动保护.二机械手的组成机械手的形式是多种多样的,有的较为简单,有的较为复杂,但基本的组成形式是相同的,一般由执行机构、传动系统、控制系统和辅助装置组成。1. 执行机构机械手的执行机构,由手、手腕、手臂、支柱组成。手是抓取机构,用来夹紧和松开工件,与人的手指相仿,能完成人手的类似动作。手腕是连接手指与手臂的元件,可以进行上下、左右和回转动作。简单的机械手可以没有手腕。支柱用来支撑手臂,也可以根据需要做成移动。2. 传动系统执行机构的动作要由传动系统来实现。常用机械手传动系统分机械传动、液压传动、气压传动和电力传动等几种形式。3. 控制系统机械手控制系统的主要作用是控制机械手按一定的程序、方向、位置、速度进行动作,简单的机械手一般不设置专用的控制系统,只采用行程开关、继电器、控制阀及电路便可实现动传动系统的控制,使执行机构按要求进行动作动作复杂的机械手则要采用可编程控制器、微型计算机进行控制。三 机械手的分类和特点机械手一般分为三类:第一类是不需要人工操作的通用机械手。它是一种独立的不附属于某一主机的装置。它可以根据任务的需要编制程序,以完成各项规定的操作。它的特点是具备普通机械的性能之外,还具备通用机械、记忆智能的三元机械。第二类是需要人工才做的,称为操作机。它起源于原子、军事工业,先是通过操作机来完成特定的作业,后来发展到用无线电讯号操作机来进行探测月球等。工业中采用的锻造操作机也属于这一范畴。第三类是用专用机械手,主要附属于自动机床或自动线上,用以解决机床上下料和工件送。这种机械手在国外称为“Mechanical Hand”,它是为主机服务的,由主机驱动;除少数以外,工作程序一般是固定的,因此是专用的。主要特点:(1) 机械手(上下料机械手、装配机械手、搬运机械手、堆垛机械手、助力机械手、真空搬运机、 真空吸吊机、省力吊具、气动平衡器等)。(2) 悬臂起重机(悬臂吊、电动环链葫芦吊、气动平衡吊等) (3) 导轨式搬运系统(悬挂轨道、轻型轨道、单梁起重机、双梁起重机)(4) 工业机械手的应用机械手是在机械化、自动化生产过程中发展起来的一种新型装置。近年来,随着电子技术特别是电子计算机的广泛应用,机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术,它更加促进了机械手的发展,使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然目前还不如人手那样灵活,但它具有能不断重复工作和劳动、不知疲劳、不怕危险、抓举重物的力量比人手大等特点,因此,机械手已受到许多部门的重视,并越来越广泛地得到了应用,例如:(1) 机床加工工件的装卸,特别是在自动化车床、组合机床上使用较为普遍。(2) 在装配作业中应用广泛,在电子行业中它可以用来装配印制电路板,在机械行业中它可以用来组装零部件。(3) 可在劳动条件差,单调重复易子疲劳的工作环境工作,以代替人的劳动。(4) 可在危险场合下工作,如军工品的装卸、危险品及有害物的搬运等。(5) 宇宙及海洋的开发。(6) 军事工程及生物医学方面的研究和试验。助力机械手:又称平衡器、平衡吊、省力吊具、手动移载机等,是一种无重力化手动承载系统,一种新颖的、用于物料搬运时省力化操作的助力设备,属于一种非标设计的系列化产品。针对客户应用需求,量身定制的个案创作。一种模拟人手操作的自动机械,它可按固定程序抓取搬运物件或操持工具完成某些特定操作。应用机械手可以代替人从事单调重复或繁重的体力劳动,实现生产的机械化和自动化,代替人在有害环境下的手工操作,改善劳动条件,保证人身安全。20世纪40年代后期,美国在原子能实验中,首先采用机械手搬运放射性材料,人在安全室操纵机械手进行各种操作和实验。50年代以后,机械手逐步推广到工业生产部门,用于在高温污染严重的地方取放工件和装卸材料,也作为机床的辅助装置在自动机床自动生产线和加工中心中应用,完成上下料或从刀库中取放刀具并按固定程序更换刀具等操作。机械手主要由手部机构和运动机构组成。手部机构随使用场合和操作对象而不同,常见的有夹持托持和吸附等类型。运动机构一般由液压气动电气装置驱动。机械手可独立地实现伸缩旋转和昇降等运动,一般有23个自由度。机械手广泛用于机械製造冶金轻工和原子能等部门。能模仿人手和臂的某些动作功能,用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化,能在有害环境下操作以保护人身安全,因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 机械手通常用作机床或其他机器的附加装置,如在自动机床或自动生产线上装卸和传递工件,在加工中心中更换刀具等,一般没有独立的控制装置。有些操作装置需要由人直接操纵,如用于原子能部门操持危险物品的主从式操作手也常称为机械手。机械手主要由手部和运动机构组成。手部是用来抓持工件(或工具)的部件,根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式,如夹持型、托持型和吸附型等。运动机构,使手部完成各种转动(摆动)、移动或复合运动来实现规定的动作,改变被抓持物件的位置和姿势.机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置,它是在机械化、自动化生产过程中发展起来的一种新型装置。近年来,随着电子技术特别是电子计算机的广泛应用,机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术,它更加促进了机械手的发展,使得机械手能更好地实现与机械化和自动化的有机结合。机械手能代替人类完成危险、重复枯燥的工作,减轻人类劳动强度,提高劳动生产力。机械手越来越广泛的得到了应用,在机械行业中它可用于零部件组装 ,加工工件的搬运、装卸,特别是在自动化数控机床、组合机床上使用更普遍。目前,机械手已发展成为柔性制造系统FMS和柔性制造单元FMC中一个重要组成部分。把机床设备和机械手共同构成一个柔性加工系统或柔性制造单元,它适应于中、小批量生产,可以节省庞大的工件输送装置,结构紧凑,而且适应性很强。当工件变更时,柔性生产系统很容易改变,有利于企业不断更新适销对路的品种,提高产品质量,更好地适应市场竞争的需要。而目前我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离,应用规模和产业化水平低,机械手的研究和开发直接影响到我国自动化生产水平的提高,从经济上、技术上考虑都是十分必要的。因此,进行机械手的研究设计是非常有意义的。附件2:外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial robot 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 machines, in particular, reflects the peoples intelligence 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 prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor 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 complexity, require more relays, wiring complexity, vulnerability to body vibration interference, 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 strong anti-jamming capability, ensuring the systems reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other 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 industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe 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 Chinas coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested 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 Chinas 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 assembly operations since, which has more and more 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 parts loading time is not annoying, and labor productivity is not high, the cost of production 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 as 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 safe production; particularly 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 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 energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute 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 pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, 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 aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity 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 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 would not be a serious impact on production. The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating 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 safely used in flammable, 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, transmission systems, control systems and auxiliary devices composed.1. Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, 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 commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.3. Control SystemManipulator control systems 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 control 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. Action will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristics Robots 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 operation 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 such as the Moon. Used in industrial manipulator also fall into this category. The third category 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. This mechanical hand in foreign countries known as the Mechanical Hand, which is the host of services, from the host-driven; exception 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, 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 the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new type 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 combination of mechanization and automation.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 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, 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 industryIt can be used to assemble 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 goods 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 needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous repetitive or heavy manual labor, the mechanization and automation 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 room 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 unloading 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 completion 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 by the hand and sports institutions. 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 pneumatic electrical device drivers.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly 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 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 mechanical hand.Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material 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 completion of a variety of hand rotation (swing), mobile or compound movements to achieve 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 moving piece features automatic device, which is mechanized and automated production process developed a new type 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 combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularl
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