工業(yè)機(jī)械手中英文對照外文翻譯文獻(xiàn)

中英文對照外文翻譯文獻(xiàn)(文檔含英文原文和中文翻譯)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

people's

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

system's

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

China's

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

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

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.

Viscosity

of

air

is

small,

the

pipeline

pressure

loss

also

is

very

small,

easy

long-distance

transport.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

hand

Robot

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.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.

Transmission

The

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

System

Manipulator

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

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

industry

It

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.

Manipulator

can

be

achieved

independently

retractable

﹑

rotation

and

lifting

movements,

generally

2

to

3

degrees

of

freedom.

Robots

are

widely

used

in

metallurgical

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

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.Manipulator

mainly

by

hand

and

sports

institutions.

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,

particularly

in

the

automation

of

CNC

machine

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

of

the

FMC.

The

machine

tool

equipment

and

machinery

in

hand

together

constitute

a

flexible

manufacturing

system

or

a

flexible

manufacturing

cell,

it

was

adapted

to

small

and

medium

volume

production,

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

enterprises

to

continuously

update

the

marketable

variety,

improve

product

quality,

and

better

adapt

to

market

competition.

At

present,

China's

industrial

robot

technology

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

robot

research

and

development

of

a

direct

impact

on

raising

the

level

of

automation

in

China,

from

the

economy,

technical

considerations

are

very

necessary.

Therefore,

the

study

of

mechanical

hand

design

is

very

meaningful.譯文

：機(jī)械手

機(jī)械手是近幾十年發(fā)展起來的一種高科技自動化生產(chǎn)設(shè)備。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個重要分支。它的特點(diǎn)是可通過編程來完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu)造和性能上兼有人和機(jī)器各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和各種環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)展前景。隨著工業(yè)自動化的發(fā)展,

出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動強(qiáng)度的同時,

大大提高了勞動生產(chǎn)率。但數(shù)控加工中常見的上下料工序,

通常仍采用人工操作或傳統(tǒng)繼電器控制的半自動化裝置。前者費(fèi)時費(fèi)工、效率低;

后者因設(shè)計復(fù)雜,

需較多繼電器,接線繁雜,

易受車體振動干擾,而存在可靠性差、故障多、維修困難等問題。可編程序控制器PLC控制的上下料機(jī)械手控制系統(tǒng)動作簡便、線路設(shè)計合理、具有較強(qiáng)的抗干擾能力,

保證了系統(tǒng)運(yùn)行的可靠性,降低了維修率,

提高了工作效率。機(jī)械手技術(shù)涉及到力學(xué)、機(jī)械學(xué)、電氣液壓技術(shù)、自動控制技術(shù)、傳感器技術(shù)和計算機(jī)技術(shù)等科學(xué)領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。

1．工業(yè)機(jī)械手的概述

機(jī)械手是一種能自動化定位控制并可重新編程序以變動的多功能機(jī)器，它有多個自由度，可用來搬運(yùn)物體以完成在各個不同環(huán)境中工作。在工資水平較低的中國，塑料制品行業(yè)盡管仍屬于勞動力密集型，機(jī)械手的使用已經(jīng)越來越普及。那些電子和汽車業(yè)的歐美跨國公司很早就在它們設(shè)在中國的工廠中引進(jìn)了自動化生產(chǎn)。但現(xiàn)在的變化是那些分布在工業(yè)密集的華南、華東沿海地區(qū)的中國本土塑料加工廠也開始對機(jī)械手表現(xiàn)出越來越濃厚的興趣，因?yàn)樗麄円鎸と肆魇矢撸约盀楣と私还M(fèi)帶來的挑戰(zhàn)。

隨著我國工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開發(fā)以后，自動化程度的迅速提高，實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進(jìn)行加工、裝配等作業(yè)自化，已愈來愈引起我們重視。

機(jī)械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實(shí)現(xiàn)自動抓取、搬運(yùn)或操作的自動機(jī)械裝置。

在現(xiàn)實(shí)生活中，你是否會發(fā)現(xiàn)這樣一個問題。在機(jī)械工廠里，加工零件裝料的時候是不是很煩的，勞動生產(chǎn)率不高，生產(chǎn)成本大，有時候還會發(fā)生一些人為事故，導(dǎo)致加工者受傷。想想看用什么可以來代替呢，加工的時候只要有幾個人巡視一下，且可以二十四個小時飽和運(yùn)作，人行嗎？回答是肯定的，但是機(jī)械手可以來代替它。

生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動化水平和勞動生產(chǎn)率;可以減輕勞動強(qiáng)度、保證產(chǎn)品質(zhì)量、實(shí)現(xiàn)安全生產(chǎn)；尤其是在高溫、高壓、低溫、低壓、粉塵、易爆、有毒氣體和放射性等惡劣的環(huán)境中能夠代替人進(jìn)行正常的工作。想到這里我就很想設(shè)計一個機(jī)械手，來用于生產(chǎn)實(shí)際中。

為什么選著設(shè)計機(jī)械手用氣動來提供動力：氣動機(jī)械手是指以壓縮空氣為動力源驅(qū)動的機(jī)械手。用氣壓驅(qū)動與其他能源驅(qū)動比較有以下優(yōu)點(diǎn)：1.空氣取之不竭，用過之后排入大氣，不需要回收和處理，不污染環(huán)境。（環(huán)保的概念）2.空氣的沾性很小，管路中壓力損失也很?。ㄒ话銡饴纷枇p失不到油路的千分之一），便于遠(yuǎn)距離輸送。3.壓縮空氣的工作壓力較低(一般為4～8公斤/每平方厘米)，因此對動元件的材質(zhì)和制造精度要求可以降低。4.與液壓傳動相比，它的動作和反應(yīng)都快，這是氣動突出的優(yōu)點(diǎn)之一。5.空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。但是也有它美中不足的地方：1.由于空氣的可壓縮性，致使氣動工作的穩(wěn)定性差，因而造成執(zhí)行機(jī)構(gòu)運(yùn)動速度和定為精度不易控制。2.由于使用氣壓較低，輸出力不可能太大，為了增加輸出力，必然使整個氣動系統(tǒng)的結(jié)構(gòu)尺寸加大。

用氣壓驅(qū)動與用其他能源驅(qū)動比較有以下優(yōu)點(diǎn)：

空氣取之不竭，用過之后排入大氣，不需回收和處理，不污染環(huán)境。偶然的或少量的泄漏不致對生產(chǎn)發(fā)生嚴(yán)重的影響。

空氣的粘性很小，管路中壓力損失也就很小，便于遠(yuǎn)距離輸送。

壓縮空氣的工作壓力較低，因此對氣動元件的材質(zhì)和制造精度要求可以降低。一般說來，往復(fù)運(yùn)動推力在1~2噸以下采用氣動經(jīng)濟(jì)性較好。

與液壓傳動相比，它的動作和反應(yīng)都快，這是氣動的突出優(yōu)點(diǎn)之一。

空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。

它可安全地應(yīng)用在易燃、易爆和粉塵大的場合。又便于實(shí)現(xiàn)過載自動保護(hù).

2．機(jī)械手的組成

機(jī)械手的形式是多種多樣的，有的較為簡單，有的較為復(fù)雜，但基本的組成形式是相同的，一般由執(zhí)行機(jī)構(gòu)、傳動系統(tǒng)、控制系統(tǒng)和輔助裝置組成。

1.

執(zhí)行機(jī)構(gòu)

機(jī)械手的執(zhí)行機(jī)構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機(jī)構(gòu)，用來夾緊和松開工件，與人的手指相仿，能完成人手的類似動作。手腕是連接手指與手臂的元件，可以進(jìn)行上下、左右和回轉(zhuǎn)動作。簡單的機(jī)械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)需要做成移動。

2.

傳動系統(tǒng)

執(zhí)行機(jī)構(gòu)的動作要由傳動系統(tǒng)來實(shí)現(xiàn)。常用機(jī)械手傳動系統(tǒng)分機(jī)械傳動、液壓傳動、氣壓傳動和電力傳動等幾種形式。

3.

控制系統(tǒng)

機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按一定的程序、方向、位置、速度進(jìn)行動作，簡單的機(jī)械手一般不設(shè)置專用的控制系統(tǒng)，只采用行程開關(guān)、繼電器、控制閥及電路便可實(shí)現(xiàn)動傳動系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動作．動作復(fù)雜的機(jī)械手則要采用可編程控制器、微型計算機(jī)進(jìn)行控制。3．機(jī)械手的分類和特點(diǎn)

機(jī)械手一般分為三類：第一類是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不附屬于某一主機(jī)的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項規(guī)定的操作。它的特點(diǎn)是具備普通機(jī)械的性能之外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類是需要人工才做的，稱為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過操作機(jī)來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操