机械手外文文献翻译、中英文翻译、外文翻译

PAGEPAGE6Mechanicalhandmechanicalhand,isalsocalledfrombegins,autohandcanimitatethemanpowerandarm'scertainholdingfunction,withbypressesthefixedroutinetocapture,thetransportingthing'OR'operationtool'sautomaticoperationinstallment.Itmayreplaceperson'sstrenuouslabortorealizetheproductionmechanizationandtheautomation,canoperateunderthehostileenvironmentprotectsthepersonalsafety,thuswidelyappliesindepartmentsandsoonmachinemanufacture,metallurgy,electron,lightindustryandatomicenergy.themanipulatorismainlycomposedofthehandandthemotion.Thehandisusesfortograspholdstheworkpiece(ortool)thepart,accordingtoisgraspedholdsthethingshape,thesize,theweight,thematerialandtheworkrequesthasmanykindsofstructuralstyles,liketheclamp,therequestholdandtheadsorptionandsoon.Themotion,causesthehandtocompleteeachkindofrotation(swinging),themigrationorthecompoundmotionrealizesthestipulationmovement,changesisgraspedholdsthethingpositionandtheposture.Motion'sfluctuation,theexpansion,revolvingandsoonindependencemovementway,iscalledmanipulator'sdegree-of-freedom.Inordertocaptureinthespacetheoptionalpositionandthepositionobject,musthave6degrees-of-freedom.Thedegree-of-freedomisthekeyparameterwhichthemanipulatordesigns.Thedegree-of-freedomaremore,manipulator'sflexibilityisbigger,theversatilityisbroader,itsstructureisalsomorecomplex.Generallythespecial-purposemanipulatorhas2~3degrees-of-freedom.themanipulator'stype,maydivideintothehydraulicpressuretype,theairoperatedaccordingtothedrivetype,electromotivetype,themechanicalmanipulator;Maydivideintothespecial-purposemanipulatorandthegeneral-purposemanipulatortwokindsaccordingtotheapplicablescope;Maydivideintothepositioncontrolandthecontinuouspathaccordingtothepathcontrolmodecontrolsthemanipulatorandsoon.themanipulatorusuallyservesastheenginebedorothermachine'sadd-oncomponent,likeontheautomaticmachineortheautomaticproductionlineloadingandunloadingandthetransmissionworkpiece,replacesthecuttingtoolinthemachiningcenterandsoon,generallydoesnothavetheindependentcontroldevice.Someoperatingequipmentneedsbythepersondirectcontrol,ifusesinthehostwhotheatomicenergydepartmentmanagesthedangerousgoodsfromthetypeoperatoralsooftenbeingcalledthemanipulator.Modernindustrialrobotsaretruemarvelsofengineering.Arobotthesizeofapersoncaneasilycarryaloadoveronehundredpoundsandmoveitveryquicklywitharepeatabilityof+/-0.006inches.Furthermoretheserobotscandothat24hoursadayforyearsonendwithnofailureswhatsoever.Thoughtheyarereprogrammable,inmanyapplications(particularlythoseintheautoindustry)theyareprogrammedonceandthenrepeatthatexactsametaskforyears.Asix-axisrobotliketheyellowonebelowcostsabout$60,000.WhatIfindinterestingisthatdeployingtherobotcostsanother$200,000.Thus,thecostoftherobotitselfisjustafractionofthecostofthetotalsystem.Thetoolstherobotusescombinedwiththecostofprogrammingtherobotformthemajorpercentageofthecost.That'swhyrobotsintheautoindustryarerarelyreprogrammed.Iftheyaregoingtogototheexpenseofdeployingarobotforanothertask,thentheymayaswelluseanewrobot.Thisisprettymuchthetypicalmachinepeoplethinkofwhentheythinkofindustrialrobots.Fanucmakesthisparticularrobot.Fanucisthelargestmakerofthesetypeofrobotsintheworldandtheyarealmostalwaysyellow.Thisrobothassixindependentjoints,alsocalledsixdegreesoffreedom.Thereasonforthisisthatarbitrarilyplacingasolidbodyinspacerequiressixparameters;threetospecifythelocation(x,y,zforexample)andthreetospecifytheorientation(roll,yaw,pitchforexample).Ifyoulookcloselyyouwillseetwocylindricalpistonsonthesideoftherobot.Thesecylinderscontain"anti-gravity"springsthatareabigpartofthereasonrobotslikethesecancarrysuchheavyloads.Thesespringscounter-balanceagainstgravitysimilartothewaythespringsonthegaragedoormakeitmucheasierforapersontolift.Youwillseerobotslikethesewelding,paintingandhandlingmaterials.TherobotshownatrightismadebyanAmericancompany,AdeptTechnology.AdeptisAmerica'slargestrobotcompanyandtheworld'sleadingproducerofSCARArobots.Thisisactuallythemostcommonindustrialrobot.SCARAstandsforSelectiveComplianceArticulated(thoughsomefolksuseAssemblyhere)RobotArm.Therobothasthreejointsinthehorizontalplanethatgiveitx-ypositioningandorientationparalleltotheplane.Thereisonelinearjointthatsuppliesthezpositioning.Thisisthetypical"pickandplace"robot.Whencombinedwithavisionsystemitcanmoveproductfromconveyorbelttopackageataveryhighrateofspeed(think"Lucyandthecandies"butwayfaster).Therobot'sjointstructureallowsittobecompliant(orsoft)toforcesinthehorizontalplane.Thisisimportantfor"peginhole"typeapplicationswheretherobotwillactuallyflextomakeupforinaccuraciesandallowverytightpartfits.ThemachineatleftcanbecalledaCartesianrobot,thoughcallingthismachinearobotisreallystretchingthedefinitionofarobot.ItisCartesianbecauseitallowsx-y-zpositioning.Threelinearjointsprovidethethreeaxesofmotionanddefinethex,yandzplanes.Thisrobotissuitedforpickandplaceapplicationswhereeithertherearenoorientationrequirementsorthepartscanbepre-orientedbeforetherobotpicksthemup(suchassurfacemountedcircuitboardassembly)..simpleoneofmostusefulorganizationsisfourpoleorganizations.Inonfollowingelaborationmajorityofcontentcentralismdiscussionlinkmotiongear,butthisprocedureisalsosuitableforthemorecomplexlinkmotiongear.Wealreadyknewfourpoleorganizationshaveadegreeoffreedom.Aboutfourpoleorganizations,hastheusefulmorecontentswhichmustknow?Indeedissome!ThesepulltheXiaohusbandcriterionincludingthestandard,thetransformationconcept,theblindspotposition(divergencepoint),branchoffice,transmissionangle,withtheirsmovementcharacteristic,includingposition,speedandacceleration.Fourpoleorganizationsmayhaveonekindofbeingcalledascrankrockerorganizationform,onekindofdoublerockingleverorganization,onekindofdoublecrank(tensionbar)doestheorganization,whichoneformsendiniscalledastheorganization,isdecidedintwopolemovementscopeswhich(fixedcomponent)connectswiththerack.Thecrankrockerorganizationinputcomponent,thecrankmayrevolvethrough360°andthecontinuousrotation,butoutputsthecomponenttomaketheundulationmerely(i.e.swingmember).Asanexceptionalcase,intheparallelfourpoleorganization,inputsthepolethelengthtobeequaltooutputsthepolethelength,thego-betweenlengthandthefixedlink(rack)length,alsoisequal.Itsinputandtheoutputallmaymakethecompletealternationrotationortransformthebeingcalledasantiparallelquadrangleorganizationtheoverlappingstructure.ThestandardpullstheXiaohusbandcriterion(theorem)toindicatethat,Ifinfourpoleorganizations,betweentwopolescandowillfullyrelativelyrotatescontinuously,that,itslongestpolelengthissmallerthansumofwiththeshortestpolelengthorisequaltosumoftheothertwopolelength.Shouldpayattention:Thesamefourpoleorganization,mayhavethedifferentform,whichpoleisthisdecidedinwasstipulated(i.e.makesfixedlink)astherack.Themovementtransformationprocessisinthefixedorganizationtransmissionchaindifferentmemberhasthedifferentorganizationrateprocess.Besideshasaboutthecomponentrotationscopeknowledge,butalsomusthavehowcausestheorganizationbeforethemanufactureonenergy“therevolution”thegoodmeasure,thatwillbeveryuseful.Hardenbergh(Hartenberg)speaksof:“Therevolution”isterminology,itssignificancepassestooutputsthecomponentthemovementvalidity.Itmeanttherevolutionissteady,inwhichcaninoutputinthecomponenttohaveastrengthorthetorquebiggestforcecomponentiseffective.Notonlyalthoughthefinaloutputstrengthorthetorquearetheconnectingrodgeometricfigurefunctions,moreoveralsoisgenerallythepowerortheforceofinertiaresult,thatisfrequentlybigtolikestaticstrengthseveraltimes.Inordertoanalyzetheidlingorinordertoeasytoobtainhowcancauseanyorganization“therevolution”theindex,thetransmissionangleconceptisextremelyuseful.Inorganizationmovementperiod,thetransmissionanglevalueischanging.Thetransmissionangle0°mayoccurinthespecialposition.Willoutputthepolebutinthisspecialpositionthemovementwithnottoexertinputsonthepolethestrengthmanytohavenothingtodowithgreatly.Infact,asaresultofthemovementvice-frictioninfluence,thegeneralbasispracticalexperience,withthetransmissionangleplanningboardwhichisbiggerthantherating.Theweightlinkmotiongeartransmissionmovementabilitymatrixfoundationdefinitionalreadystudied.Adeterminingfactorvalue(itincludesregardingsomeassignsorganizationgraph,positionoutputmovementvariabletoinputvariablederivative)isathislinkmotiongearinconcretepositionmobilitycriterion.Iftheorganizationhasadegreeoffreedom(e.g.fourpoleorganizations),thenstipulatedalocationparameter,iftheinputangle,completelydeterminedthisorganizationstopsposition(neglectbranchoffice'spossibility).Wemaystudyoneaboutfourpoleorganizationcomponentabsoluteangularpositionanalysisexpression.Whenanalyzescertainpositionsand(or)certaindifferentorganizationtime,thiswillbemustbemuchmoreusefulthanthegeometricfigureanalysisprogram,becausethisexpressionwillcausetheautomatedcomputationeasytoprogram.Therealizationorganizationspeedanalysisrelativevelocitylawisthespeedpolygonisoneofseveraleffectivemethods.Thisend(goesagainst)thespottorepresentontheorganizationallspots,hasthezerospeed.Fromthisthelinewhichstipplesrespectivelytothespeedpolygoninisrepresentingtheabsolutespeedwhichthisorganizationphotographwellshouldselectrespectively.Inalineconnectionspeedpolygonrandomtwopointsrepresentsistakingonthisorganizationtwocorrespondingspotrelativevelocity.Othermethodistheinstantaneouscenterlaw,namelytheinstantaneouscenterlaw,thismethodisextremelyusefulmoreoverisfrequentlywhenthecomplexlinkmotiongearanalysisquickmethod.Theinstantaneouscenterisaspot,thisspotinthatflash,onbetweentheorganizationtwocomponentsdoesnothavetherelativemotion.Inordertodiscoverknownorganizationcertaininstantaneouscenterstheposition,Kennedythe(Kennedy)threecentertheoriesextremelyareuseful.Itissaidthat,Eachotherrelativemotionthreeobjectthreeinstantaneouscentersaresurelyinastraightline.Theorganizationvariouscomponentsaccelerationismakesonebeinterested,becauseitaffectstheforceofinertia,subsequentlyaffectsthemachinepartthestress,thebearingload,thevibrationandthenoise.Becausethefinalgoalisthemachineandtheorganizationforceofinertiaanalysis,theallaccelerationvariouscomponentsallshouldthedisposablepicture--intheorganizationfixedcomponentinertialcoordinatesystemexpressintheidenticalcoordinatesystem.Shouldpayattention:Isoppositeinrotatesonthevice-rotationrigidbodyanaccelerationcomponentusuallytohavetwofixedly.Aforcecomponentdirectioncutsinthispath,itsdirectionissamewiththisobjectangleaccelerationdirection,andiscalledthetangentialacceleration.Itsexistenceiscompletelybecausetheangularspeedrateofchangecauses.Anothercomponent,alwaysaimsattheobjectthecenterofrotation,iscalledthestandardthecentripetalacceleration,becausethiscomponentthevelocityvectordirectionhasthechangetoexist.ThemovementcomprehensiveGanizationisformsmanymechanismsthebasicgeometrystructuralunits,thesemechanismsincludingautomaticpackaging,printer,mechanicaltoy,textilemachineryandothermachineriesandsoon.Thetypicalorganizationmustdesigncausesthemovementwhichtherigidcomponentrelativedatumcomponentproduceshoped.Theorganizationmovementdesignisthemovementsynthesis,firststepfrequentlydesignstheentiremachinefirst.Whenconsiderationstress,mustaskdynamicsaspectquestion,thebearingload,thestress,thelubricationandsoonthesimilarquestion,butthemajorproblemisthemachinestructurequestion..Themovementscientistdefinesthekinematicsas“thedevelopmentfacilitymovementandthefoundationorganizationmethod”.Thisdefinitionfirstpartinvolvesthekinematicanalysis.Theknownorganization,itsconstitutionstateofmotiondeterminedbythekinematicanalysis.Thenarrationmovementanalysisdutycontainstheorganizationbetweenthemaindimension,thecomponentlinksmutuallywiththeinputmovementtechnicalcharacteristicortheactuationmethod.Thegoalismustdiscoverthedisplacement,thespeed,theacceleration,theimpactorthebeat(twostepaccelerations),withvariouscomponentshigherorderaccelerationwhichpossiblyoccursaswellasdescribesthediametermarkandthemovementwhichrealizesbycertaincomponents.Thedefinitionsecondpartofavailablefollowingtwoaspectexplained：1.researchproduceswiththeaidoftheorganizationassignsthemovementthemethod.2.researchconstructiontobeabletoproduceassignsthemotionthemethod,butintwoplans,themovementisassignstheorganizationisthefoundation.Thisisthemovementsynthesisessence.Suchmovementsynthesisinvolvestoforassignstheperformancetheorganizationsystemdesign.Themovementsynthesisaspectmaysumupasfollowingtwokinds:1.typesarecomprehensive.Thestipulationrequeststheperformance,howisonekindoftypeorganizationappropriate?(Toothgeartrain,linkmotiongear?Camgear?)Howmanycomponentsbutshouldtheorganizationhave?Howmanydegreesoffreedomneeds?Howoutlinestructureishoped?.Aboutthemembernumberandthedegreeoffreedomconsiderationwasusuallyconsideredisinthetypesynthesisisbeencalledasforaquantitysynthesisbranchdomain.2.sizesarecomprehensive.Themovementsynthesissecondpredominanttypeisthebestmethodwhichdeterminedthroughthegoallaw.Thesizesynthesisattemptstodeterminetheorganizationtheimportantsizeandthestartingposition,thisorganizationisconceivesbeforehandfortherealizationstipulationdutyandtheanticipatedperformance.Oftheso-calledimportantsizemeaningsarereferabouttwopoles,threepolesandsoonbetweenthelengthorthepoleareawayfrom,anglebetweennumberofarticlesandspoolthread,camcontoursize,camfollowerdiameter,eccentricity,gearquotaandsoon.Expectedtheorganizationtypepossiblyisthecrankslideorganization,fourpoleorganizations,thetapereelfromthemovingpartscamgear,butorisnon-hassomekindofstructureshapemorecomplexlinkmotiongearbecausebytheanalysissitusmethodwhichtheinferioranalyticmethoddetermined.Iscomprehensiveregardingthemovement,intheconventionhasthreeduties:Functionproduction,pathproductionandmovementproduction..Inputsandoutputsthecomponentinthefunctionproductionorganizationtherotationorthemigrationmustbetheinterdependence.Regardingarbitraryfunctiony=f(x),amovementsynthesisdutypossiblyisdesignsalinkmotiongeartocausetheinputandtheoutputestablishestherelationsinordertocauseinthexo<x<xn-1scopetoinputaccordingtoxmovement,butoutputsaccordingtothey=f(x)movement.Intheinputandintheoutputgyroscopicmotionsituation,thecornerphiandphirespectivelyisxandtheylinearsimulation.Wheninputsrotatestoanindependencexvalue,inone“blackbox”intheorganization,causestooutputwhichthecomponenttochangetocorrespondsinthevaluewhichbyfunctiony=f(x)decided.Thismayconsideristhemechanicalanalogycomputersimplesituation.Eachkindofdifferentorganizationallmaycontaininthis“theblackbox”in,howeverproducesregardingthearbitraryfunctionnon-error,fourpoleorganizationsarehelpless,possiblymatchesmerelyinthelimitedprecisionwithit.Itwidelyusesintheindustry,becausefourpoleorganizationsintheconstructionandtheserviceallaresimple.Inthepathproductionorganization,in“floatsthewalkingbeam”onaspottohavetodrawonetobeoppositeinafixedcoordinatesystemdeterminationpath.Ifthispathspotisbothmustandhavetoberelatedwiththetimecorrelationwiththeposition,thisdutyiscalleditthepredeterminedcyclicalpathproduction.Apathproductionorganizationexampleisthedesignthrowsthebaseballorthetennisfourpoleorganization.Inthiscase,willselectPthepathwillbethis:Picksaballinthepredeterminedposition,andtransmitsinthepredeterminedtimecyclealongthepredetermineddiametermarktheball,canachievetheappropriatespeedandthedirection.Inthemechanismdesignhasmanysituations,bothmustguidetherigidbodyinthesesituationsthroughaseriesofstipulations,theindependentpositionwhichlimits,andmustlimitinthereductionwhenindependentpositionnumber,tothevehiclespeedand(or)theaccelerationrestrains,thatisnecessary.Movementproductionorrigidbodyguidingorganizationrequest:Acompleteobjectmustguidepassesapredeterminedmovementsequence.Tooktheobjectwhichguidesusuallyis“thefluctuationcomponent”notonlyapart,thatisthetargetpointPpath,alsoisandinsertsinthisobjectthroughthisspotthelinerotation.Forexample,thispossiblyrepresentsintheautomatedmachineryacarrier,butthathasapredeterminedpathinacarrieronspotthiscarrieralsotohaveapredeterminedangleposition.Thepredeterminedwaychargercablewaybucketmovementisthemovementproductionorganizationanotherexample.Thecablewaybucketendpathhasthelimit.Becauseitsportmustrealizetheexcavationpath,isfollowingcloseonthepathwhichmustrealizepromotesandfallsintorrents.Thecablewaybucketanglepositiontoguaranteedfightsthematerialtofallintorrentsfromthecorrectpositionsimilarlyis(butactually)important.ThecamandthegearcamgearischangesonekindofmovementChengLingonekindofmovementtheconvenienceinstallment.Thiskindofmachineparthasthecurvedsurfaceorthetroughsurface,thiscurvedsurfaceorthetroughsurfacewithpassestofromthemovingpartsappropriatematchmergethemovementfromthemovingparts.Thecammovement(usuallyisrotation)istransmittedfordoesfromthemovingpartstheundulationorthemigration,orbothhave.Becausevariousgeometricsolidandthemassivecamswithunifyfromthemovingparts,thereforethecamisonekindofextremelynumerousfunctionmulti-purposemachineparts.Althoughthecamandfromthemovingpartsmayforthemovement,thepathandthefunctionproductiondesigns,butitmainlyisusesinusingthecamandtakesthefunctionproductioncomponentfromthemovingparts.Accordingtothecamshape,themostuniversalcamtypeis:Disctransmissioncam(twodimensional,namelyplane)andcylindricalcam(threedimensional,namelyspace)organization.Mayuseseveralmethodsfromthemovingpartstoclassify:Accordingtofromthemovingpartsmovement,forexamplethemigrationortheundulationclassifies,accordingtothetranslationtype(straightline)fromthemovingpartsmovementisalongtheradialdirectionfromthecamshaftcenterbiasandthebasisfromthemovingpartscontactfaceshape(forinstanceplane,rollarounds,spot--knifepointtype,sphericalsurface,planecurveorspace-likesurface).Regardingonetothehearttranslationrollerfromthemovingpartsdiskcam,maydrawandcamsurfacecontactingalsowiththewheelaxleconcentricmostsmallcircleisthebasecircle.Thefollowerspotproducesthepitchlinerollaroundscenterspot.Theangleofpressureistherollercenterpathcourselineandpassestherollaroundscenterbetweenthepitchlinenormalincludedanglemoreoveristhetransmissionanglecoangle.Theneglectfrictionalinfluence,thisnormaldirectionwiththecamwithfromthemovingpartsthecontactforcedirectionisthesuperpositionconsistent.Inalinkmotiongear,theangleofpressurethechangeispreciselylikelythecamtransmitsinthecirculationgeneratingprocessthemovementactiononekindofmeasurementwhichgoesfromthemovingparts.Thebigangleofpressurewillproduceexertsfromthemovingpartspolesideforce,becauseofthefrictionforceexistence,thatinevitablywilllimitfromthemovingpartsintheguidechannel.Needtheintermittentmotioninautomatedmachinerymanyapplications.Assoonasatypicalexamplewillrequestonetoincludetherisetostandstillareturnsandthepossibleanotheridletimecycle,eachstagewillpassthroughtheanglewhichwillassign,willfollowaninstitutetorequestfromthemovingpartsdisplacement,thisdisplacementorwillmeasurebythecentimeter.Designer'sworkdesignsthiscamcorrespondingly.Firstmustdothedecision-makingismustchoosethecamfromthemovingpartstype.Thestipulationapplicationpossibletorequestthecamandunifiesfromthemovingparts.Transformsincludesforpolicy-makingcertainfactors:Geometryshapecondition,dynamiccondition,environmentalconditionandeconomicagent.Oncethecamwithwasdesignatedfromthemovingpartsmovementvice-type,thensurelydesignatedfromthemovingpartsmovement.Therefore,thespeed,theaccelerationandincertainsituations,reallyaretheextremefromthemovingpartsdisplacementfurtherplantobeimportant.Thegearisdrawssupportingearteethsuccessmeshingtransmitsthemovementthemachinepart.Gearfromagyro-axletoanothergyro-axletransmissionmovementortransmissionmovementtoatransmissionrack.Inthemostapplicationsall(oroftendecidestorquebytheconstantangletransmissionratiotocompare)exists.Intheconstantangletransmissionratioapplicationissurelytheaxialtransmission.Invarioususefulgeartypefoundation,theinputaxisandtheoutputshaftneedorneedparallelmutuallyinastraightlineallnotanylimit.Becauseusesthenon-roundgear,thenon-linearangletransmissionratioalsoisveryuseful.Inordertomaintaintheconstantangularspeed,eachgeartoothprofilemustobeythegearmeshingthebasicrule:Inordertoapairoftoothcantransmittheconstantangletransmissionratio,theycontactthetoothprofiletheshapetohavetobemustlikethis:Thecommonnormalpassesintwogearcentersegmentthefixedpoint.Satisfiesthemeshingbasicruletwomeshingtoothprofiletobecalledtheconjugatetoothprofile.Althoughhasmanysatisfiesmeshesthetoothpossibletoothprofiletobeabletodesign,satisfiesthebasicmeshingrule,butonlyhastwokindstousegenerally:Cycloidtoothprofileandinvolutetoothprofile.Hascertainimportantmeritsinvolute:Butiteasytoprocessbetweenthemanufactureandapairofinvolutegearcenterdistancemaychangedoesnotchangethetransmissionratio,whenusestheinvolutetoothprofile,butdoesnotrequestbetweenthepreciseaxisthecommondifference.Someseveralkindofstandardgearsmaysupplytoselect.Inordertoappliesundertheparallelaxiscondition,usuallyusesthestraighttoothcylindricalgears,parallelaxletiltgearorherringbonetoothgear.Usesthestraightbevelgearorthehelicalgearintheintersectionaxissituation.Regardingthenon-intersectionaxisandthenon-parallelgearshafttransmission,willinterlocktheaxishelicalgear,thewormbearingadjusterwormgear,theendsurfacegear,theskewedtoothbevelgearortheaccuratehyperboloidgearisselected.Regardingthestraighttoothcylindricalgears,thecountergearfestivalcircleiseachothercontacting.Theyrollmutuallydonothavetheglide.Thegearaddendumisthegearteethstretchesoutsurpassesthefestivalcircle(alsoishighlybetweenfestivalcircleandaddendumcircleinradialdirectiondistance).Goesagainstthecrackisassignsthetooththededendum(inthefestivalcirclefollowingtoothdepth)tobebiggerthanthegeargearaddendumquantitywhichmesheswithit(interpolation).Thetooththickisalongthefestivalroundcirculararcinthecrosstoothdistance,butthetoothspacing(socketS)isalongthefestivalroundcirculararcintheneighboringtwospacebetweenteethspacelength.Butthetoothsideclearanceisbiggerthanitscountergearinfestivalcircletooththickinterpolationinthefestivalcirclesocketwidth..fastenwiththejointcomponentstypicalmethodincludingtheusesuchasbolt,thecapnut,thecapscrew,thesetscrew,therivet,thelockinginstallmentandthekey.Thecomponentsalsomayusethemelttoweld,thebrazeandtheclampconnection.Andthemetalworkingcraftresearchincludesfrequentlyintheengineeringplatstudyabouteachkindofconnectionmethodexplanation,verymuchisinterestedregardingthisintheproject,intellectualcuriositystronganybodycanobtainnaturallyaboutfastensinthemethodthegoodelementaryknowledge..机械手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。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机械手设计的关键参数。自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有2～3个自由度。机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。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。现代工业机器人是真正的奇迹工程。一个像人一样大小的机器人可以轻松地随身携带负载百磅，并很快地重复性移动+/-0.006英寸。此外这些机器人可以做到没有失败的一天24小时的连续工作几年。尽管它们是可以改编的，在许多应用中（特别是在汽车行业），他们是一次编程，然后多年重复相同的任务。六轴机器人像Fanuc的黄一个低于成本约为六万美元。我认为有趣的是，部署机器人的