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Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial automation as a separate subject. Manipulator application began to filter into welding, logistics, mechanical processing, and other industries. Especially at high or very low temperatures, full of poisonous gases, high radiation case, robot in similar circumstances showed great use also brings great convenience to the staff. Precisely because of this robot to get people's attention began to be a high degree of development. Labor rates, working conditions, labor intensive aspects of promoting development. Both at home and abroad to develop the PLC (programmable logic controller) is in various special circumstances and under special conditions set for mechanical devices. Now turned on the development of the microelectronics automatic control technology and the rapid development of the trains, the success of PLC hardware software and simulation control win big and successful development, now continues to develop as a factory automation standards. Because robots are good development of the technology makes a good optimization of productive capital, and robot shows this unique advantages, such as: has good compatibility, wide availability, hardware is complete, and programming that can be mastered in a short time, so in the context of industrial PLC applications became ubiquitous. Manipulator in many developed country agriculture and industry has been applied, such as the use of mechanical harvesting large areas of farmland, repeated operations on the high-speed line that uses a robotic arm, and so on. Today, the high level of automation combined with restrictions on the manipulator development level is slightly lower than the international. The design is mainly arm welding machine by PLC Automation control. This of design let designers on in school by learn of has a must of consolidation, understand has some usually didn't opportunities awareness in world range within some leading level of knowledge has has must awareness, hope designers can in yihou of design in the can success of using in this design in the proceeds of experience 1.2 manipulator in both at home and abroad of research profile automation mechanical arm research began Yu 20th century medium-term, after years with with computer and automation technology of development, Makes mechanical arm on the Grand stage of industrial automation and shine, gradually became an industrial evaluation standards, and its importance can be seen. Now original robotic arm spent most of mass production and use on the production line, which is programmed robotic arm. As the first generation of manipulator position control systems main features, although not back several generations that can detect the external environment, but can still successfully complete like welding, painting, delivery as well as for materials simple movements. Second generation mechanical arms are equipped with sensors and manipulators have the environment there is a certain amount of "sense", when the mechanical arm is to use the program as a basis. Difference is that the robot begand 初一上 1 第一的最初首先 first 2 数学 math 3 排球 volleyball 4 篮球 basketball 5 中国人;中文 Chinese 6 足球 soccer 7 数字;号码 number 8 中间的;居中的 middle 9 中学 middle school 10 最喜欢的 favorite 11 科目;学科 subject 12 喜欢;习爱 like 13 玩;游戏;演奏 play 14 研读 学习 研究 study 15 到…… 去 go to 16 确实地;真实地 really 17 电脑;计算机 computer 18 一年级的 first-year 19 学生 student 20 语言 language 21 队;在一起工作的人 team 22 成员 member 23 俱乐部 club 24 实践;学习 practice 25 (询问)…… 怎么样? how about 26 骑;搭乘 ride raid 27 背包 backpack 28 钢琴 piano 29 每人;人人 everyone 30 高兴的 glad 31 相见;相遇 meet 32 机器人 robot 33 科学 science 34 体育运动;运动 sport 35 牙齿 teeth 36 疲劳的 tired 37 美味的 delicious 38 巧克力 chocolate 39 乐趣 fun 40 饥饿的 hungry 41 课功课 lesson 42 上…… 课 take lesson 43 热爱;爱 love 44 音乐 music 45 棒球 baseball 46 小提琴 violin 47 乒乓球 table tennis 48 强壮的;坚固的 strong 49 在哪里 where 50 唯一的;只,仅仅 only 51 星期二 Tuesday 52 应用;使用 use 53 擅长…… be good at 54 星期三 Wednesday 55 猜;猜想 guess 56 星期一 Monday 57 叉 fork 58 准备好的 ready 59 在……之后 after 60 星期六 Saturday 61 在……之前 before 62 放学后 after school 63 听;倾听 listen to 64 能;能够 can 65 每一的;每个的 every 66 腿 leg 67 也(用于两个否定式之后) either 68 那时;然后 then 69 …怎么样(以为如何)? what about 70 较年少的 younger 71 快 fast 72 较年长的 older 73 小昆虫 bug 74 用以询问动作的频度 how often 75 告诉 tell 76 笑话 joke 77 步行 walk 78 或;或者 or 79 不同的 different 80 羞怯的 shy 81 善良的;有好的 kind 82 更好的(地) better 83 像,类似;喜欢 like 84 少量;稍许 a little 85 经常;时常 often 86 帮助 help 87 周末 weekend 88 有趣的;可笑的 funny 89 人们;人民;民族 people 90 事情;东西 thing 91 在一起 together 92 聪明的 smart 93 蝴蝶 butterfly 94 更加;更甚 more 95 早 early 96 意大利饼 pizza 97 有吸引力的;漂亮的;聪明的; cute 98 在……队 on a …team 99 容易的;简单的 easy 100 手指 finger 101 有趣的 interesting 102 为…… for 103 动物 animal 104 抬举;举起;提起 lift 105 中国 China 106 糖果 candy 107 有时候 sometimes 108 家庭作业 homework 109 傍晚;晚上 evening 110 通常地 usually 111 起床 get up 112 总是;永远地 always 113 早餐 breakfast 114 从不;永远不 never 115 谈话;说话 talk 116 头发;毛发 hair 117 穿衣 dress 118 穿上衣服;着装 get dress 119 迅速移动;催促某事;赶紧 hurry 120 面条 noodle 121 沐浴 shower 122 洗澡(淋浴) take shower 123 洗澡 bath 124 开始 begin 125 睡着;睡熟 asleep 126 入睡 fall asleep 127 忘记 forget 128 刷洗 brush 129 鼓 drum 130 梳;梳子 comb 131 棕色的 brown 132 晚,迟到的 late 133 吃 eat 134 完成;结束 finish 135 复习;回顾 review 136 正餐;主餐 dinner 137 清扫;弄干净 clean 138 厨房 kitchen 139 读;阅读 read 140 上床睡觉 go to bed 141 写 write 142 喝 drink 143 钟点 o'clock 144 电影 movie 145 看;观看 watch 146 电视(TV) television 147 在…上 on 148 在那里;往那里 there 149 故事 story 150 父母 parents 151 祖父 grandfather 152 祖母 grandmother 153 二者 both 154 好 vell 155 做饭菜;厨师 cook 156 在旁边 beside 157 眼镜 glass 158 多少(指可数) how many 159 生活;生存;居住 live 160 在…内(中);在时段 in 161 中学;高中 high school 162 独生子;独生女 only child 163 银行 bank 164 旅馆 hotel 165 大量;许多 a lot 166 将(某物)置于某处;放置 put 167 钱 money 168 睡觉 sleep 169 在……期间 during 170 假期 vacation 171 医生 doctor 172 办事员;店员;职员 clerk 173 在……近旁 near 174 开车;驾驶 drive 175 忙 busy 176 商店;仓库 store 177 关于…… about 178 工作 job 179 旅行(尤指短途) trip 180 她(she的宾格) her 181 他(he的宾格) him 182 他她们(they的宾格) them 183 光;灯 light 184 也 too 185 嗨!(语气词) hey 186 我(I 的宾格) me 187 浴室 bathroom 188 客厅 living 189 卧室 bedroom 190 阳台 balcony 191 长沙发 sofa 192 冰箱 fridge 193 柜橱 cupboard 194 洗涤槽 sink 195 炉子 stove 196 照片 photograph 197 微波炉 microwave 198 墙 wall 199 地板;楼层 floor 200 地毯 rug 201 (体育运动)的比赛项目 event 202 在……紧接着的一侧 next to 203 在……上方 above 204 前方;前线 front 205 在…前面in front of 206 相机 camera 207 气球 balloon 208 洗 wash 209 盘;碟 dish 210 在…… 下方 under 211 树叶 leaf 212 我们(we的宾格) us 213 奶 milk 214 奶油;黄油 butter 215 意大利面条 spaghetti 216 碗 bowl 217 男人 man 218 餐馆;饭店 restaurant 219 组,小组 group 220 人 person 221 驾驶员 driver 222 茶 tea 223 跑道;轨道 track 224 场地;田地 field 225 田径(运动) track and field 226 比赛;竞赛 contest 227 团队比赛 team 228 健身房;体育馆 gym 229 喝彩;给与鼓励 cheer 230 需要 need 231 构想;思想;主意 idea 232 最好的 best 233 记录 record 234 用力拉或拖 tug 235 拔河比赛 tug of war 236 下一个;邻近的 next 237 高 high 238 (量度单位)公尺;米 meter 239 速度竞赛,赛跑 race 240 招贴;海报 poster 241 跳 jump 242 跳高 high jump 243 从……获得乐趣 enjoy 244 运动员 player 245 拉;拖 pull 246 获胜 win 247 网球 tennis 248 汉堡包 hamburger 249 向上 up 250 向下 down 251 打;打击;撞击 hit 252 让 let 253 让我们 let's 254 黑板 blackboard 255 困难的;坚硬的;费力的 hard 256 班级;课;上课 class 257 历史 history 258 希望;期望 hope 259 得到;接到 get 260 (成绩)分数;标记 mark 261 为什么 why 262 艺术 art 263 实用的;适用的 useful 264 解释;讲解 explain 265 难题 problem 266 神经紧张的 nervous 267 清楚地 clearly 268 一切事、物 everything 269 回答;答应 answer 270 感觉到;感受到 feel 271 学;学习 learn 272 小圆面包 bun 273 远 far 274 健康的 healthy 275 生活;生命 life 276 转动 turn 277 接通;使用中 on 278 接通(开) turn on 279 分离;离开 off 280 断开(闭) turn off 281 抽屉 drawer 282 灯 lamp 283 开,打开 open 284 关;关闭 close 285 离开 out 286 想;思考;认为 think 287 空气 air 288 新鲜的;清新的 fresh 289 用(钱);花(时间);消耗 spend 290 明亮的 bright 291 有益于…… be good for 292 无声的;沉寂的 silent 293 声;声音 sound 294 锻炼;运动 exercise 295 不利于 be bad for 296 当……时候 when 297 困的;欲睡的 sleepy 298 无声的;安静的 quiet 299 一整夜 all night 300 衬衫;衬衣 shirt 301 使(某物)落下;降落 drop 302 制作;制造;做;使(某人、某物)变为;显得;使(某人)做(某事) make 303 一个,置于以原因读音起始的单数名词或词组之前 an 304 不同地 differently 305 定冠词用于名词前,表示特指的人 the 306 (助动词)用以构成疑问式或否定式;做,行动 do 307 加;添加 add 308 用以构成:在某处(某时)存在某物(谋事)的句式;there为前导词,be有单、复数的变化 there 309 移动;移开;运动 move 310 …比…(用于形容词或副词的比较级之后,引导表示比较关系的从句或短语) than 311 不定冠词一(个),用于可数单数名词前,泛指人,物或事 a 312 冰淇淋 ice cream 313 行为动词或助动词do的现在时单数第三人称形式 does 314 周四 lhursday 315 展现;呈现 show 316 和…;与…;用…;with 317 周五 Friday 318 周日 Sunday 全面落实企业主体责任;持续强化“两重点一重大”、重点地区和特殊作业等重点环节监管,遏制较大以上事故,保持事故总量继续下降,推动两个行业领域安全生产形势持续稳定好转。manipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays and discrete electronic circuit can control old industrial equipment, but also more common. Mainly these two relatively cheap and you can meet the old-fashioned, simple (or simple) industrial equipment. So he can see them now, however these two control modes (relay and discrete electronic circuits) are these fatal flaws: (1) cannot adapt to the complex logic control, (2) only for the current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's modern industrial automation technology the substantial increase in the level of industrial automation, completed the perfect relay of the computer too much. In terms of controlling the computer showed his two great advantages: (1) each of the hardware can be installed on one or more microprocessors; (2) the official designer of the software writing content control is all about. Now in several ways in the context of industrial automation can often be seen in three ways: (1) Programmable Logical Controller (referred to as IPC); (2) Distributed Control System (DCS for short), and (3) the Programmable Logical Controller (PLC for short). 2.1.2 PLC and the IPC and DCS contrast contrast 1, each of the three technologies of origins and development requirements for fast data processing makes it invented the computer. The men brought in terms of hardware there, using a high level of standardization, can use more compatibility tools, is a rich software resources, especially the need for immediacy in operational systems. So the computer can effectively control is used to control and meet its speed, on the virtual model, real-time and in computational requirements. Distributed system started with a control system for industrial automatic instrument used to control, whereas now it is successfully developed into industrial control computer used as a central collection and distribution system and transition of distributed control system in analogue handling, loop control, has begun to reflect the use of a huge advantage. Though distributed system has great advantages in loop regulation, but only as a means of continuous process control. Optimization of PLC is the corresponding relay needs was born, its main use in the work order control, early primary is replaced relay this hulking system, focused on the switch controlling the running order of functions. Marked by the microprocessor in the early 1970 of the 20th century emerged, micro-electronics technology has developed rapidly, people soon microelectronics processing technology will be used in the Programmable Logical Controller (that is 初一下 1 爱好,嗜好 hobby 2 捕捉,抓住 clutch 3 花 flower 4 种植,栽种 grow 5 几个 several 6 大量,许多 lots of 7 最小的最少的 least 8 至少 at least 9 寻找 look for 10 厘米,公分 cm=centimetre 11 少,很少 few 12 少量的数目 a few 13 问题 question 14 五十,50  fifty 15 流行的受欢迎的 popular 16 植物 plant 17 二十八,28 twenty-eight num 18 许多,大量的 a number of 19 闲暇 leisure 20 另外,另一个 other 21 同班同学 classmate 22 问,询问 ask 23 全部全数全体 all 24 大部分大多数 most 25 许多,大量 many 26 游泳 swimming 27 两件一起的同类东西 pair 28 部分,一些 some 29 有空的闲着的 free 30 山,高山 mountain 31 同一的一样的 same 32 适宜正确的 right 33 连衣裙,套裙,着装 dress 34 徒步旅行 hike 35 衣物,服装 clothes 36 运动鞋 running 37 短裤 shorts 38 背包 backpack 39 靴子 boot 40 牛仔裤 Jeans 41 帽子 hat 42 袜子,短袜 socks 43 穿,戴 wear 44 白色的 white 45 蓝色的 blue 46 表兄弟表姐妹 cousin 47 站,车站 station 48 顶部,上端 top 49 等待,等候 wait 50 等候 wait for 51 什么时候 when 52 舒适的 comfortable 53 粉红色的 pink 54 特别特殊的 special 55 聚会 party 56 甚至,即使 even 57 出席正式场合,能与套装搭配的鞋 dress shoes 58 一对的一双的 a pair of 59 当然,自然 of course 60 伤害,感到疼痛 hurt 61 漂亮的,可爱的 pretty 62 毛衫 sweater 63 黑色的 black 64 手套 glove 65 极好的,令人愉快的 great 66 短袖汗衫 T-shirt 67 活动 activity 68 地方 place 69 日期 date 70 西方的 western 71 会议 meeting 72 种类 kind 73 讲,讲话 speak 74 电话 telephone 75 四月 April 76 五月 May 77 谈论 talk 78 签字,签名 sign 79 报名参加 sign up 80 发言,演说 speech 81 大厅 hall 82 发生 take 83 比赛,竞赛 contest 84 演出,表演,展览 show 85 月份 month 86 将,愿意 will 87 在晚上 at night 88 醒,醒来 wake 89 朋友 friend 90 极好的 wonderful 91 工作日 weekday 92 圣诞节 Christmas 93 第三 third 94 橡皮 eraser 95 游戏,运动,体育比赛 game 96 祖父的 grandparents 97 睡衣 pajamas 98 裤子 pants 99 访问,参观 visit 100 蛇 snake 101 宠物 pet 102 鸟 bird 103 蚂蚁 ant 104 最好的,最佳的 best 105 最坏的,最差的 worst 106 一次 once 107 笼子 cage 108 德国 Germany 109 照看,照顾 look 110 英国 UK 111 引起恐慌的 scary 112 令人讨厌的 boring 113 蜘蛛 spider 114 听起来,发出声音 sound 115 害怕,担心 afraid 116 唱 sing 117 英格兰 England 118 任何事物 anything 119 使人激动的 exciting 120 国家 country 121 歌曲 song 122 皱眉 frown 123 歌手 singer 124 猫 cat 125 也许 maybe 126 动物园管理员 zookeeper 127 狮子 lion 128 羽毛 feather 129 象 elephant 130 毛皮 fur 131 企鹅 penguin 132 鹦鹉 parrot 133 微笑 smile 134 触摸 touch 135 轻轻地 gently 136 快地,迅速地 quickly 137 容易地 easily 138 错误地 wrong 139 关爱,负责,照顾 care for 140 水 water 141 种子 seed 142 日常地 daily 143 有规律地 regularly 144 太…而不能… too…to… 145 肉 meat 146 拿,捧 hold 147 相处 get along 148 水果 fruit 149 喂,饲养,给(食物) feed 150 孩子们(复数) children 151 关心,照顾 care 152 爆米花 popcorn 153 熊 bear 154 给 give 155 飞 fly 156 需要 need 157 大的,广的 large 158 足够的 enough 159 惊恐的 scared 160 婴儿 baby 161 喊,叫,哭 cry 162 壶,锅 pot 163 热 hot 164 选择 choose 165 医院 hospital 166 病的 sick 167 照料,照看 take care of 168 变为,变成 become 169 停留,维持某一状态 stay 170 几乎不 hardly 171 测试,测验 test 172 确实的,真实的 real 173 印度 India 174 陆地 land 175 恐龙 dinosaur 176 鲸 whale 177 长颈鹿 giraffe 178 吨 ton 179 人类,成年男子 man 180 千克(公斤) kg=kilogram 181 重 weigh 182 大量的 a lot 183 国王 king 184 颈,脖子 neck 185 摇动,颤动 shake 186 危险的 dangerous 187 踩……上 step on 188 错误,误解 mistake 189 弄错,误解 by mistake 190 蜥蜴 lizard 191 阿根廷 Argentina 192 仔细的,认真的, careful 193 美洲,美国 America 194 伤感的,悲伤的,愁苦的 sad 195 脚趾 toe 196 像……一样 as…as… 197 楼房,建筑物 building 198 也许,可能 might 199 大小,号码 size 200 霸王龙 T-rex 201 公牛 ox 202 锁 lock 203 到达这种程度,所以 so 204 码头 dock 205 猪肉 pork 206 奶牛 cow 207 检查,核对,检测 check 208 她的 hers 209 果酱 jam 210 兔 rabbit 211 虎 tiger 212 重,重量 weig
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