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機(jī)械手論文中英文資料外文翻譯文獻(xiàn)
湖 南 科 技 大 學(xué)
英文文獻(xiàn)翻譯
學(xué) 生 姓 名： 封陽(yáng)財(cái)
學(xué) 院： 機(jī)電工程學(xué)院
專(zhuān)業(yè)及班級(jí)： 機(jī)械設(shè)計(jì)制造及其自動(dòng)化6班
學(xué) 號(hào)： 1103010605
指導(dǎo)教師： 王起明
2015 年 5 月 30 日
英文部分
Driven by pneumatic hand in real life, handling and operation of the automatic mechanical device, you will find such a problem: the production of mechanical hand can improve the production level of automation and labor. Why did you choose mechanical design to provide power: pneumatic manipulator, pneumatic drive and other energy has the following advantages: air from the inexhaustible, after discharged into the atmosphere, do not need the recovery and processing; air viscosity is very small, pipe pressure loss is very small, which is convenient for far distance; compressed air pressure is low, so the pneumatic element material and system; handling or operation of automatic mechanical device.
In real life, will you find such a problem? In machinery factory, processing of parts loading is annoying, labor productivity is not high, production cost is high, and sometimes some man-made accidents happen, resulting in processors injured. Therefore, what can instead of it. As long as several people look at the process, and work for twenty-four hours, can they do? The answer is yes, but the robot can replace it.
Production of mechanical hand can improve the automation level of production and labor productivity; labor intensity can be reduced, to ensure product quality, and realize the safety in production; especially in the harsh environment of the high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases and so on, which can replace the normal work. I would like to design a robot here, to use in the actual production.
Why choose to design the manipulator pneumatic to provide power: pneumatic manipulator is the compressed air for the power source of the manipulator. Air pressure drivers have the following advantages compared with other energy drivers: (1) air inexhaustible, used after the air discharged into the atmosphere, do not need to recycle and deal with, do not pollute the environment. (environmental protection concept). (2) The air is very small, the pipeline pressure loss is small (general gas road resistance of less than 1/1000 of the circuit, easy to long-distance transport.(3) the compressed air working pressure is lower (generally 4 ~ 8 kg / per square centimeter), so the material and the manufacturing accuracy of the moving element can be reduced. (4) Compared with the hydraulic drive, its movement and reaction are quick, which is one of the advantages of gas outstanding. (5) Air medium clean will not degenerate, the pipeline is not easy to plug. But there were also some shortcomings: 1. Due to air compressibility, it can result in gas arteriovenous difference of the stability of the work, and make actuator movement speed and precision is not easy to control. 2. Because of the low pressure, the output force cannot be too large, in order to increase the output force, the structure of the pneumatic system will inevitably increase.
Air pressure drivers have the following advantages compared with other energy drivers:
(1) The air is inexhaustible, and is discharged into the atmosphere after being used, without the need to recycle and deal with the environment.
(2) Accidental or small leakage will not cause serious impact on production.
(3) The air viscosity is small, the pipeline pressure loss is also very small, and is easy for long-distance transmission.
(4) The compressed air has a lower working pressure, so the material and manufacturing precision of pneumatic components can be reduced. Generally speaking, the thrust of the reciprocating movement is better than the pneumatic economy under the 1~2 tons.
(5) Compared with the hydraulic transmission, its movement and the reaction are quick, which is one of the outstanding merits of pneumatic.
(6) Air medium clean will not degenerate, and the pipeline is not easy to plug.
(7) It can be safely used in flammable, explosive and dust occasions. It is also easy to realize overload and automatic protection.
二、Composition of Robot Manipulators
The form of the manipulator is varied, some relatively simple, some more complex, but the basic form of it is the same, generally by the executive mechanism, transmission system, control system and the auxiliary device composition.
1. Executive Mechanism
The executive mechanism of the manipulator consists of hand, wrist, arm, and pillar. The hand is the grab mechanism, used to clamp and release the work piece, with the human finger is similar, can complete the human hand like action. The wrist is the component that connects the finger and the arm, can carry on the upper and down, the left and right and the revolving movement. Simple manipulator cannot have the wrist. The strut is used to support the arm, and can be moved as needed.
2. Drive System
The action of the actuator is realized by the transmission system. The common mechanical hand drive system is divided into mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission and other forms of.
3. Control System
The main role of mechanical hand control system is to control the robot according to certain procedures, direction, position, velocity of movement, but the simple manipulator is generally not set up special control system, using only travel switch, a relay, a control valve and a circuit can realize the dynamic control of the drive system, the executing agency according to the requirements of action. Complex movements of the manipulator adopt the programming controller, microcomputer control.
三、The Classification and Characteristics of Manipulator
Manipulator is generally divided into three categories: the first category doesn’t need manual operation of the general robot manipulator. It is an independent device that is not attached to a host. It can be compiled according to the task of the need to complete the provisions of the operation. It is characterized by ordinary mechanical performance, but also with general machinery, memory intelligent three yuan machinery. The second category needs man to do, which is called the operating machine. It originated in the atomic and military industries, first through the operating machine to complete a specific job, and later developed to use the radio signal operator to detect the moon and so on. The forging manipulator used in industry belongs to this category. The third category is to use special machine hand, mainly attached to the automatic machine tool or automatic line, to solve the machine tool and the work piece. This manipulator is called “Hand Mechanical” abroad, which is service for the host and driven by the main engine. Except for a few, the working procedure is usually fixed, so it is special. The main characteristics are below:
(1) manipulator (upper and lower feeding manipulator, manipulator for assembly, handling manipulator, stacking mechanical hands, mechanical power hands, vacuum handling machine, vacuum suction crane, labor-saving spreader, gas dynamic balancer etc.).
(2) A cantilever crane (a cantilever crane, an electric ring hoist hanging, and a pneumatic balancing suspension, etc.)
(3) The rail transit system (suspension track, light rail, single girder crane, double girder crane)
四、Industrial Manipulator Application
The manipulator is a new device which is developed in the process of mechanization and automation. In recent years, along with the electronic technology, especially the wide application of electronic computers, the research and manufacture of robots has become a new technology developing rapidly in the field of high technology, and it promotes the development of the manipulator, the manipulator can better realize the organic combination of mechanization and automation.
Although manipulator is inferior to manpower as flexible, it has to constantly repetitive work, not tired, not afraid of danger, snatch weight strength compared with manual features. Therefore, the manipulator has been the attention of many departments, and more and more widely has been used, such as:
(1) The loading and unloading of the work piece in the machine tool, especially in the automatic lathe, and the combination machine tool is generally used.
(2) Widely used in the assembly operation, it can be used in the electronics industry to assemble printed circuit boards, in the machinery industry it can be used to assemble parts.
(3) The work environment for the work of the monotonous redundant fatigue of the working conditions may be poor in working conditions to replace human labor.
(4) At hazardous situations, such as handling of military goods, dangerous goods and hazardous materials, etc.
(5) Development of the universe and oceans.
(6) Military and biomedical studies and trials.
Pneumatic manipulator: also known as the balancer, balance crane, labor-saving spreader, manual transfer machine, is a zero gravity manual load system, a novel, for material handling labor saving operation of power equipment, belonging to a non-standard design series products. The case creation is according to the customer application requirements.
A simulation of manual operation of the automatic machinery, it can complete certain operations according to the fixed program crawling, handling objects or manage tools. Application of the manipulator can replace people in the monotonous, repetitive or heavy manual labor, to realize the mechanization and automation of the production, instead of people in harmful environment of manual operation, improve working conditions, to guarantee the safety of human life. In the late twentieth Century 40s, the United States in atomic energy experiments, first of all, the manipulator carrying radioactive material, people in the safe room manipulator for various operations and experiments. Since the 1950s, manipulator gradually extended to industrial production department, used in high temperature and serious pollution of the pick and place the work piece loading and unloading of materials, also serves as a tool of auxiliary devices in automatic machine, automatic production line and processing application, complete material or from the knife from tool and press fixed program replacement tools operation. The manipulator is composed of the body and the movement mechanism. The mechanism of the hand is different with the use of the occasion and the operation object, and the common type of the mechanism is holding, holding and adsorbing. Motion mechanism is generally driven by hydraulic, pneumatic and electrical device. The manipulator can independently realize stretching, rotation and lifting of the movement, there are generally 3 to 2 degrees of freedom. Widely used in machinery manufacturing, metallurgy, light industry and atomic energy sector.
It can imitate the function of some movements of the hand and arm, and it can be used for the automatic operation device of the fixed program to grab and carry the object or operation tools. It can replace the heavy labor to realize the mechanization and automation of production, can operate in hazardous environments to protect the personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. Manipulator pass commonly used for machine tools or other machinery of the additional device, such as in automatic machine or automatic production line handling and transmission parts, in the machining center replacement tool, generally do not have independent control device. Some devices need to operate by direct manipulation, such as for atomic energy department manages the dangerous goods of master-slave manipulator also often referred to as the manipulator.
The manipulator is composed of the hand and the movement mechanism. Hand is used to hold the work piece or tool parts, according to be caught hold object shape, size, weight, material and operational requirements and a variety of structural forms, such as clip to type, type and adsorption type support. Movement mechanism, so that the hand to complete a variety of rotation (swing), mobile or composite movement to achieve the provisions of the action, change the object's position and posture...
The manipulator is used in the automatic production process a kind of automation device with function of grasping and moving the work piece, which is developed in the mechanization and automation of the production process of a new type of device. In recent years, along with the electronic technology, especially the wide application of electronic computers, the research and manufacture of robots has become a new technology developing rapidly in the field of high technology, which promotes the development of the manipulator. The manipulator can better realize the organic combination of mechanization and automation. Mechanical hand can replace human to complete the dangerous, redundant and dry work, reduce human labor intensity, and improve labor productivity. Manipulator is more and more widely applied, in mechanical industry, it can be used for parts assembly, machining a work piece handling, loading and unloading, especially in the automation of CNC machine tools, modular machine tool of more general use. At present, the manipulator has become an important part of the FMS and the flexible manufacturing cell FMC. The machine tool equipment and mechanical hand is composed of a flexible manufacturing system and flexible manufacturing unit, and it adapts to medium and small batch production, which can save a large work piece conveying device, compact structure, and strong adaptability. When the work piece is changed, the flexible production system is easy to change, is conducive to enterprises to continuously update the marketable varieties, improve product quality, better adapt to the needs of market competition. At present our country industrial robot technology and its application in engineering level and foreign than there is still a certain distance, the application scale and industrialization level is low, manipulator research and development directly affect the improvement of the automation level of production in China, from the economic and technical considerations are necessary. Therefore, the research and design of robot manipulator is very meaningful.
中文部分
在現(xiàn)實(shí)生活中，搬運(yùn)或操作的自動(dòng)機(jī)械裝置,你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問(wèn)題:生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動(dòng)化水平和勞動(dòng)生；為什么選設(shè)計(jì)機(jī)械手用氣動(dòng)來(lái)提供動(dòng)力：氣動(dòng)機(jī)械手；用氣壓驅(qū)動(dòng)與用其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：空氣取之不竭，用過(guò)之后排入大氣，不需回收和處理；空氣的粘性很小，管路中壓力損失也就很小，便于遠(yuǎn)距；壓縮空氣的工作壓力較低，因此對(duì)氣動(dòng)元件的材質(zhì)和制；搬運(yùn)或操作的自動(dòng)機(jī)械裝置。
在現(xiàn)實(shí)生活中，你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問(wèn)題。在機(jī)械工廠(chǎng)里，加工零件裝料的時(shí)候是不是很煩的，勞動(dòng)生產(chǎn)率不高，生產(chǎn)成本大，有時(shí)候還會(huì)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(lái)代替呢，加工的時(shí)候只要有幾個(gè)人巡視一下，且可以二十四個(gè)小時(shí)飽和運(yùn)作，能行嗎？回答是肯定的，但是機(jī)械手可以來(lái)代替它。
生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動(dòng)化水平和勞動(dòng)生產(chǎn)率；可以減輕勞動(dòng)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(jì)一個(gè)機(jī)械手，來(lái)用于生產(chǎn)實(shí)際中。
為什么選著設(shè)計(jì)機(jī)械手用氣動(dòng)來(lái)提供動(dòng)力：氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力源驅(qū)動(dòng)的機(jī)械手。用氣壓驅(qū)動(dòng)與其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：1.空氣取之不竭，用過(guò)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(duì)動(dòng)元件的材質(zhì)和制造精度要求可以降低。4.與液壓傳動(dòng)相比，它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)突出的優(yōu)點(diǎn)之一。5.空氣介質(zhì)清潔，亦不會(huì)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(dòng)工作的穩(wěn)定性差，因而造成執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)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(gè)氣動(dòng)系統(tǒng)的結(jié)構(gòu)尺寸加大。
用氣壓驅(qū)動(dòng)與用其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：
1.空氣取之不竭，用過(guò)之后排入大氣，不需回收和處理，不污染環(huán)境。2.偶然的或少量的泄漏不致對(duì)生產(chǎn)發(fā)生嚴(yán)重的影響。
3.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。
4.壓縮空氣的工作壓力較低，因此對(duì)氣動(dòng)元件的材質(zhì)和制造精度要求可以降低。一般說(shuō)來(lái)，往復(fù)運(yùn)動(dòng)推力在1~2噸以下采用氣動(dòng)經(jīng)濟(jì)性較好。
5.與液壓傳動(dòng)相比，它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)的突出優(yōu)點(diǎn)之一。
6.空氣介質(zhì)清潔，亦不會(huì)變質(zhì)，管路不易堵塞。
7.它可安全地應(yīng)用在易燃、易爆和粉塵大的場(chǎng)合。又便于實(shí)現(xiàn)過(guò)載自動(dòng)保護(hù)。
二﹑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(jiǎn)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(dòng)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(lái)夾緊和松開(kāi)工件，與人的手指相仿，能完成人手的類(lèi)似動(dòng)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(dòng)作。簡(jiǎn)單的機(jī)械手可以沒(méi)有手腕。支柱用來(lái)支撐手臂，也可以根據(jù)需要做成移動(dòng)。
2. 傳動(dòng)系統(tǒng)
執(zhí)行機(jī)構(gòu)的動(dòng)作要由傳動(dòng)系統(tǒng)來(lái)實(shí)現(xiàn)。常用機(jī)械手傳動(dòng)系統(tǒng)分機(jī)械傳動(dòng)、液壓傳動(dòng)、氣壓傳動(dòng)和電力傳動(dòng)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(dòng)作，簡(jiǎn)單的機(jī)械手一般不設(shè)置專(zhuān)用的控制系統(tǒng)，只采用行程開(kāi)關(guān)、繼電器、控制閥及電路便可實(shí)現(xiàn)動(dòng)傳動(dòng)系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動(dòng)作．動(dòng)作復(fù)雜的機(jī)械手則要采用可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。
三﹑ 機(jī)械手的分類(lèi)和特點(diǎn)
機(jī)械手一般分為三類(lèi)：第一類(lèi)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(xiàng)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(lèi)是需要人工才做的，稱(chēng)為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過(guò)操作機(jī)來(lái)完成特定的作業(yè)，后來(lái)發(fā)展到用無(wú)線(xiàn)電訊號(hào)操作機(jī)來(lái)進(jìn)行探測(cè)月球等。工業(yè)中采用的鍛造操作機(jī)也屬于這一范疇。第三類(lèi)是用專(zhuān)用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線(xiàn)上，用以解決機(jī)床上下料和工件送。這種機(jī)械手在國(guó)外稱(chēng)為“Mechanical Hand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少數(shù)以外，工作程序一般是固定的，因此是專(zhuān)用的。 主要特點(diǎn)：
(1) 機(jī)械手（上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、 真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等）。
(2) 懸臂起重機(jī)（懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)平衡吊等）
(3) 導(dǎo)軌式搬運(yùn)系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī)）
四、 工業(yè)機(jī)械手的應(yīng)用
機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來(lái)的一門(mén)新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。
機(jī)械手雖然目前還不如人手那樣靈活，但它具有能不斷重復(fù)工作和勞動(dòng)、不知疲勞、不怕危險(xiǎn)、抓舉重物的力量比人手大等特點(diǎn)，因此，機(jī)械手已受到許多部門(mén)的重視，并越來(lái)越廣泛地得到了應(yīng)用，例如：
(1) 機(jī)床加工工件的裝卸，特別是在自動(dòng)化車(chē)床、組合機(jī)床上使用較為普遍。
(2) 在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來(lái)裝配印制電路板，在機(jī)械行業(yè)中它可以用來(lái)組裝零部件。
(3) 可在勞動(dòng)條件差，單調(diào)重復(fù)易子疲勞的工作環(huán)境工作，以代替人的勞動(dòng)。
(4) 可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)等。
(5) 宇宙及海洋的開(kāi)發(fā)。
(6) 軍事工程及生物醫(yī)學(xué)方面的研究和試驗(yàn)。
助力機(jī)械手:又稱(chēng)平衡器、平衡吊、省力吊具、手動(dòng)移載機(jī)等，是一種無(wú)重力化手動(dòng)承載系統(tǒng)，一種新穎的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)備,屬于一種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶(hù)應(yīng)用需求，量身定制的個(gè)案創(chuàng)作。
一種模擬人手操作的自動(dòng)機(jī)械，它可按固定程序抓取﹑搬運(yùn)物件或操持工具完成某些特定操作。應(yīng)用機(jī)械手可以代替人從事單調(diào)﹑重復(fù)或繁重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，代替人在有害環(huán)境下的手工操作，改善勞動(dòng)條件，保證人身安全。20世紀(jì)40年代后期，美國(guó)在原子能實(shí)驗(yàn)中，首先采用機(jī)械手搬運(yùn)放射性材料，人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50年代以后，機(jī)械手逐步推廣到工業(yè)生產(chǎn)部門(mén)，用于在高溫﹑污染嚴(yán)重的地方取放工件和裝卸材料，也作為機(jī)床的輔助裝置在自動(dòng)機(jī)床﹑自動(dòng)生產(chǎn)線(xiàn)和加工中心中應(yīng)用，完成上下料或從刀庫(kù)中取放刀具并按固定程序更換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同，常見(jiàn)的有夾持﹑托持和吸附等類(lèi)型。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓﹑氣動(dòng)﹑電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮﹑旋轉(zhuǎn)和昇降等運(yùn)動(dòng)，一般有2～3個(gè)自由度。機(jī)械手廣泛用于機(jī)械製造﹑冶金﹑輕工和原子能等部門(mén)。
能模仿人手和臂的某些動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門(mén)。 機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線(xiàn)上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒(méi)有獨(dú)立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門(mén)操持危險(xiǎn)物品的主從式操作手也常稱(chēng)為機(jī)械手。
機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來(lái)抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)......
機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置，它是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來(lái)的一門(mén)新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。機(jī)械手能代替人類(lèi)完成危險(xiǎn)、重復(fù)枯燥的工作，減輕人類(lèi)勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。機(jī)械手越來(lái)越廣泛的得到了應(yīng)用，在機(jī)械行業(yè)中它可用于零部件組裝 ，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。目前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個(gè)重要組成部分。把機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)柔性加工系統(tǒng)或柔性制造單元，它適應(yīng)于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且適應(yīng)性很強(qiáng)。當(dāng)工件變更時(shí)，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷(xiāo)對(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。而目前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)外比還有一定的距離，應(yīng)用規(guī)模和產(chǎn)業(yè)化水平低，機(jī)械手的研究和開(kāi)發(fā)直接影響到我國(guó)自動(dòng)化生產(chǎn)水平的提高，從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必要的。因此，進(jìn)行機(jī)械手的研究設(shè)計(jì)是非常有意義的。