1、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 applic
2、ation 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
3、 robot to get peoples 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
4、 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 standa
5、rds. 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 ind
6、ustrial 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 autom
7、ation 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 didnt opp
8、ortunities 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 r
9、esearch 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 ar
10、m 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 wel
11、ding, 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
12、一的最初首先first2数学math3排球volleyball4篮球basketball5中国人;中文Chinese6足球soccer7数字;号码number8中间的;居中的middle9中学middle school10最喜欢的favorite11科目;学科subject12喜欢;习爱like13玩;游戏;演奏play14研读 学习 研究study15到 去go to16确实地;真实地really17电脑;计算机computer18一年级的first-year19学生student20语言language21队;在一起工作的人team22成员member23俱乐部club24实践;学习pra
13、ctice25(询问) 怎么样?how about26骑;搭乘ride raid27背包backpack28钢琴piano29每人;人人everyone30高兴的glad31相见;相遇meet32机器人robot33科学science34体育运动;运动sport35牙齿teeth36疲劳的tired37美味的delicious38巧克力chocolate39乐趣fun40饥饿的hungry41课功课lesson42上 课take lesson43热爱;爱love44音乐music45棒球baseball46小提琴violin47乒乓球table tennis48强壮的;坚固的strong49在
14、哪里where50唯一的;只,仅仅only51星期二Tuesday52应用;使用use53擅长be good at54星期三Wednesday55猜;猜想guess56星期一Monday57叉fork58准备好的ready59在之后after60星期六Saturday61在之前before62放学后after school63听;倾听listen to64能;能够can65每一的;每个的every66腿leg67也(用于两个否定式之后)either68那时;然后then69怎么样(以为如何)?what about70较年少的younger71快fast72较年长的older73小昆虫bug74
15、用以询问动作的频度how often75告诉tell76笑话joke77步行walk78或;或者or79不同的different80羞怯的shy81善良的;有好的kind82更好的(地)better83像,类似;喜欢like84少量;稍许a little85经常;时常often86帮助help87周末weekend88有趣的;可笑的funny89人们;人民;民族people90事情;东西thing91在一起together92聪明的smart93蝴蝶butterfly94更加;更甚more95早early96意大利饼pizza97有吸引力的;漂亮的;聪明的;cute98在队on a team9
16、9容易的;简单的easy100手指finger101有趣的interesting102为for103动物animal104抬举;举起;提起lift105中国China106糖果candy107有时候sometimes108家庭作业homework109傍晚;晚上evening110通常地usually111起床get up112总是;永远地always113早餐breakfast114从不;永远不never115谈话;说话talk116头发;毛发hair117穿衣dress118穿上衣服;着装get dress119迅速移动;催促某事;赶紧hurry120面条noodle121沐浴shower
17、122洗澡(淋浴)take shower123洗澡bath124开始begin125睡着;睡熟asleep126入睡fall asleep127忘记forget128刷洗brush129鼓drum130梳;梳子comb131棕色的brown132晚,迟到的late133吃eat134完成;结束finish135复习;回顾review136正餐;主餐dinner137清扫;弄干净clean138厨房kitchen139读;阅读read140上床睡觉go to bed141写write142喝drink143钟点oclock144电影movie145看;观看watch146电视(TV)televi
18、sion147在上on148在那里;往那里there149故事story150父母parents151祖父grandfather152祖母grandmother153二者both154好vell155做饭菜;厨师cook156在旁边beside157眼镜glass158多少(指可数)how many159生活;生存;居住live160在内(中);在时段in161中学;高中high school162独生子;独生女only child163银行bank164旅馆hotel165大量;许多a lot166将(某物)置于某处;放置put167钱money168睡觉sleep169在期间during1
19、70假期vacation171医生doctor172办事员;店员;职员clerk173在近旁near174开车;驾驶drive175忙busy176商店;仓库store177关于about178工作job179旅行(尤指短途)trip180她(she的宾格)her181他(he的宾格)him182他她们(they的宾格)them183光;灯light184也too185嗨!(语气词)hey186我(I 的宾格)me187浴室bathroom188客厅living189卧室bedroom190阳台balcony191长沙发sofa192冰箱fridge193柜橱cupboard194洗涤槽sin
20、k195炉子stove196照片photograph197微波炉microwave198墙wall199地板;楼层floor200地毯rug201(体育运动)的比赛项目event202在紧接着的一侧next to203在上方above204前方;前线front205在前面in front of206相机camera207气球balloon208洗wash209盘;碟dish210在 下方under211树叶leaf212我们(we的宾格)us213奶milk214奶油;黄油butter215意大利面条spaghetti216碗bowl217男人man218餐馆;饭店restaurant219组
21、,小组group220人person221驾驶员driver222茶tea223跑道;轨道track224场地;田地field225田径(运动)track and field226比赛;竞赛contest227团队比赛team228健身房;体育馆gym229喝彩;给与鼓励cheer230需要need231构想;思想;主意idea232最好的best233记录record234用力拉或拖tug235拔河比赛tug of war236下一个;邻近的next237高high238(量度单位)公尺;米meter239速度竞赛,赛跑race240招贴;海报poster241跳jump242跳高high
22、jump243从获得乐趣enjoy244运动员player245拉;拖pull246获胜win247网球tennis248汉堡包hamburger249向上up250向下down251打;打击;撞击hit252让let253让我们lets254黑板blackboard255困难的;坚硬的;费力的hard256班级;课;上课class257历史history258希望;期望hope259得到;接到get260(成绩)分数;标记mark261为什么why262艺术art263实用的;适用的useful264解释;讲解explain265难题problem266神经紧张的nervous267清楚地c
23、learly268一切事、物everything269回答;答应answer270感觉到;感受到feel271学;学习learn272小圆面包bun273远far274健康的healthy275生活;生命life276转动turn277接通;使用中on278接通(开)turn on279分离;离开off280断开(闭)turn off281抽屉drawer282灯lamp283开,打开open284关;关闭close285离开out286想;思考;认为think287空气air288新鲜的;清新的fresh289用(钱);花(时间);消耗spend290明亮的bright291有益于be go
24、od for292无声的;沉寂的silent293声;声音sound294锻炼;运动exercise295不利于be bad for296当时候when297困的;欲睡的sleepy298无声的;安静的quiet299一整夜all night300衬衫;衬衣shirt301使(某物)落下;降落drop302制作;制造;做;使(某人、某物)变为;显得;使(某人)做(某事)make303一个,置于以原因读音起始的单数名词或词组之前an304不同地differently305定冠词用于名词前,表示特指的人the306(助动词)用以构成疑问式或否定式;做,行动do307加;添加add308用以构成:在
25、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there309移动;移开;运动move310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)than311不定冠词一(个),用于可数单数名词前,泛指人,物或事a312冰淇淋ice cream313行为动词或助动词do的现在时单数第三人称形式does314周四lhursday315展现;呈现show316和;与;用;with317周五Friday318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
26、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
27、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
28、(3) not reforming the system with equipment improvements. Spring for the development of Chinas 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
29、 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 Contr
30、oller (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 invente
31、d 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,
32、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
33、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 wa
34、s 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, peopl
35、e soon microelectronics processing technology will be used in the Programmable Logical Controller (that is初一下1爱好,嗜好hobby2捕捉,抓住clutch3花flower4种植,栽种grow5几个several6大量,许多lots of7最小的最少的least8至少at least9寻找look for10厘米,公分cm=centimetre11少,很少few12少量的数目a few13问题question14五十,50 fifty15流行的受欢迎的popular16植物plant17
36、二十八,28twenty-eight num18许多,大量的a number of19闲暇leisure20另外,另一个other21同班同学classmate22问,询问ask23全部全数全体all24大部分大多数most25许多,大量many26游泳swimming27两件一起的同类东西pair28部分,一些some29有空的闲着的free30山,高山mountain31同一的一样的same32适宜正确的right33连衣裙,套裙,着装dress34徒步旅行hike35衣物,服装clothes36运动鞋running37短裤shorts38背包backpack39靴子boot40牛仔裤Je
37、ans41帽子hat42袜子,短袜socks43穿,戴wear44白色的white45蓝色的blue46表兄弟表姐妹cousin47站,车站station48顶部,上端top49等待,等候wait50等候wait for51什么时候when52舒适的comfortable53粉红色的pink54特别特殊的special55聚会party56甚至,即使even57出席正式场合,能与套装搭配的鞋dress shoes58一对的一双的a pair of59当然,自然of course60伤害,感到疼痛hurt61漂亮的,可爱的pretty62毛衫sweater63黑色的black64手套glove6
38、5极好的,令人愉快的great66短袖汗衫T-shirt67活动activity68地方place69日期date70西方的western71会议meeting72种类kind73讲,讲话speak74电话telephone75四月April76五月May77谈论talk78签字,签名sign79报名参加sign up80发言,演说speech81大厅hall82发生take83比赛,竞赛contest84演出,表演,展览show85月份month86将,愿意will87在晚上at night88醒,醒来wake89朋友friend90极好的wonderful91工作日weekday92圣诞节
39、Christmas93第三third94橡皮eraser95游戏,运动,体育比赛game96祖父的grandparents97睡衣pajamas98裤子pants99访问,参观visit100蛇snake101宠物pet102鸟bird103蚂蚁ant104最好的,最佳的best105最坏的,最差的worst106一次once107笼子cage108德国Germany109照看,照顾look110英国UK111引起恐慌的scary112令人讨厌的boring113蜘蛛spider114听起来,发出声音sound115害怕,担心afraid116唱sing117英格兰England118任何事物
40、anything119使人激动的exciting120国家country121歌曲song122皱眉frown123歌手singer124猫cat125也许maybe126动物园管理员zookeeper127狮子lion128羽毛feather129象elephant130毛皮fur131企鹅penguin132鹦鹉parrot133微笑smile134触摸touch135轻轻地gently136快地,迅速地quickly137容易地easily138错误地wrong139关爱,负责,照顾care for140水water141种子seed142日常地daily143有规律地regularly
41、144太而不能tooto145肉meat146拿,捧hold147相处get along148水果fruit149喂,饲养,给(食物)feed150孩子们(复数)children151关心,照顾care152爆米花popcorn153熊bear154给give155飞fly156需要need157大的,广的large158足够的enough159惊恐的scared160婴儿baby161喊,叫,哭cry162壶,锅pot163热hot164选择choose165医院hospital166病的sick167照料,照看take care of168变为,变成become169停留,维持某一状态st
42、ay170几乎不hardly171测试,测验test172确实的,真实的real173印度India174陆地land175恐龙dinosaur176鲸whale177长颈鹿giraffe178吨ton179人类,成年男子man180千克(公斤)kg=kilogram181重weigh182大量的a lot183国王king184颈,脖子neck185摇动,颤动shake186危险的dangerous187踩上step on188错误,误解mistake189弄错,误解by mistake190蜥蜴lizard191阿根廷Argentina192仔细的,认真的,careful193美洲,美国America194伤感的,悲伤的,愁苦的sad195脚趾toe196像一样asas197楼房,建筑物building198也许,可能might199大小,号码size200霸王龙T-rex 201公牛ox202锁lock203到达这种程度,所以so204码头dock205猪肉pork206奶牛cow207检查,核对,检测check208她的hers209果酱jam210兔rabbit211虎tiger212重,重量weig
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