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8.大规模定制下的配送设施 这种具有竞争力的产品和服务的提供方式已经从广告，媒体和配送设施等方面威胁到了大量生产。由于大量生产就必需要大量消费，因此配送设施和批发、零售产品的方式的出现在一个手工生产驱动的系统里毫无竞争力。这种结构类型中最著名的可能莫过于百货公司。尽管大量流通的报纸、国家广播、电视节目对于大量生产的配送要求实质上与百货公司差不多。它们之中对于大量生产的市场配送方式最主旨上的区别莫过于其更趋向于平均的或者说典型的顾客。 敏捷制造的竞争力依赖于个性化的产品和交互式的客户关系。不可避免的是这样带来了反映不同以顾客为中心的各种产品配送方式（如，产品和服务的提供者直接面向市场）。这种方式比起以前的大型超市给顾客的被动的购买经验来，能更为互动的将客户与制造者连接起来。客户可以在现成的产品中找出最接近于其心目中所需要的。通过对比得知，拥有经济实力（经济手段？？）的人在这些定制化的专业商店的产品，手工制作的商品生产和服务的提供里扮演着更为重要的角色。敏捷时代的购物会将各种产品和服务的推销特点如溢价、赠品、定制化进行集成。这样才可能会有厂家与顾客的直接联系存在，例如，当一个生产商做完自己的市场和销售之后。为了给其客户进行增值来确定什么才是客户真正所需要的，就会产生电话销售、有线电视的购物频道，网上的购物网站，超市，百货里的汽车购买贷款店（也许有天会是4s店）和其他公司、政府、学院的建筑物和其他双向或是交互的媒介，这一系列新的服务机会9.狂热的改革经历了19世纪80年代激烈的竞争之后，美国公司开始采用一系列的革新措施来寻求利润的增长和阻止已建立的市场中市场份额的流失。这些创新措施包括：SPC，JIT（准时）物流，柔性制造，计算机集成制造，多功能工作小组，并行工程，企业集合（虚拟企业？？），管理层级整合，授权工作人员，持续改进，质量控制，公司重组，流程再造，质量功能拓展，制造资源计划等等。....任务完成！哈哈
最好的玉米品质,即玉米与最低的应力开裂的比例最低,189.1; 制作太阳干燥和蒸汽干燥. 太阳晒厂能生产玉米,很少应力裂纹和低科技的价值观. 样品干燥蒸汽烘干还显示数应力裂纹和低科技的价值观. 在比较曝晒和蒸汽干燥kernels, 应该认识到,质量晒玉米很大程度上取决于天气条件和粮食混合策略. 相比之下, 质量的玉米干燥蒸汽烘干不会受天气或操作条件 因此,可以预期的是类似的蒸汽干燥样品分析. 在机械烘干,蒸汽干燥显示的最低增幅应力裂痕. 多阶段concurrent-/counter-flow起始干燥证物增幅最高,较阶段的干燥,更多地强调了裂缝. 混流式干燥呈中度增加内核应力裂痕. 平均增加的百分比应力裂缝是11蒸汽干燥,30混流式干燥 45crossflow干燥60concurrent-/counter-flow干燥. 应力裂纹人物玉米报在这项研究中烘干类似于报告机械干燥设备 美国的montrossetal[3]. 据montross研究应力开裂增加并发流干燥(记住: 美国并行流干燥不缺水粮食反流)为50%-74%, 混流干燥66%(只有一个烘干测试),穿流干燥81%-89%. 美国干衣显示出较高的应力crackedkernels要比中国烘干的同一类型, 尤其是横流烘干机. 这可能是由于种种分歧,但有可能造成较高的干燥温度用来在美国 比在中国[1]. 主要结论可从这种玉米晒在中国有: 1)晾晒还能生产玉米的最低数量的应力裂纹如果实施得当. 2)蒸汽干燥玉米通常有一小部分的应力裂纹. 3)三大高温型干燥器,混流生产烘干玉米质量较高, 即用较少的裂缝应力比横向干燥器和concurrent-/counter-flow烘干机.
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最好的玉米品质,即玉米与最低的应力开裂的比例最低,189.1;制作太阳干燥和蒸汽干燥.太阳晒厂能生产玉米,很少应力裂纹和低科技的价值观.样品干燥蒸汽烘干还显示数应力裂纹和低科技的价值观.在比较曝晒和蒸汽干燥kernels,应该认识到,质量晒玉米很大程度上取决于天气条件和粮食混合策略.相比之下,质量的玉米干燥蒸汽烘干不会受天气或操作条件因此,可以预期的是类似的蒸汽干燥样品分析.在机械烘干,蒸汽干燥显示的最低增幅应力裂痕.多阶段concurrent-/counter-flow起始干燥证物增幅最高,较阶段的干燥,更多地强调了裂缝.混流式干燥呈中度增加内核应力裂痕.平均增加的百分比应力裂缝是11蒸汽干燥,30混流式干燥45crossflow干燥60concurrent-/counter-flow干燥.应力裂纹人物玉米报在这项研究中烘干类似于报告机械干燥设备美国的montrossetal[3].据montross研究应力开裂增加并发流干燥(记住:美国并行流干燥不缺水粮食反流)为50%-74%,混流干燥66%(只有一个烘干测试),穿流干燥81%-89%.美国干衣显示出较高的应力crackedkernels要比中国烘干的同一类型,尤其是横流烘干机.这可能是由于种种分歧,但有可能造成较高的干燥温度用来在美国比在中国[1].主要结论可从这种玉米晒在中国有:1)晾晒还能生产玉米的最低数量的应力裂纹如果实施得当.2)蒸汽干燥玉米通常有一小部分的应力裂纹.3)三大高温型干燥器,混流生产烘干玉米质量较高,即用较少的裂缝应力比横向干燥器和concurrent-/counter-flow烘干机.
力，推力或者拉力.力的作用是使物体的形态,位置发生改变,或者是阻止其他的力使其发生类似的改变.每个力均会在其作用部位产生应力.力可以由个体的肌肉运动产生,也可以由机器的机械运动产生 力是由物理变化,化学变化,重力,物体位移产生的.当一种力发生作用,并且倾向于使物体拉伸,我们称这种力为拉力.承受拉力的部分称之为拉伸附载,当力发生作用,并且倾向于使物体缩短或者承受挤压,该力称之为压力另外一种力称之为扭转力,因为它倾向于使物体扭曲.还有一种使物体表层或者分子在其他物体上面滑动或者滑移的力,称之为剪切力每一种力都可以分别或者于其他的力联合发生作用.例如,一个作用于垂直钢梁的向下的力会对钢梁产生压力,如果我们把钢梁水平放置,力作用于中间部位,,那么钢梁的底端就会受力而拉伸,处于拉伸附载状态,与此同时,钢梁的顶端,在压力的作用下,向其中心部位聚集.如果压力与拉力的合力大到能够使其中一段的表层沿另外一段滑移,那么剪切力就产生了
用谷歌翻译的，悬赏能快些给我吗？算我祈求，我有急用！！谢谢，真的有急用，我现在都要哭了！！车削机床机床工具被广泛用于工业，以生产各类机械零件。有些是一般用途的机器，和其他人用来执行高度专业化的操作。使用最广泛的机床是普通车床，它提供了一个旋转轴的主要原则的议案，同时适当传授饲料动议的工具。的工件，必须牢牢掌握，经常在一个夹头。酒吧也可举行collets ，其中包含一个分裂套管推或拉对锥面。工件形状的尴尬往往是由螺栓的面板。 包含的启闭机制的驱动器，通常将改变齿轮和变速驱动器。长期工件支持他们最后提出了中心举行尾座。这个工具本身是一个工具举行后，允许设置工具的角度（横向和纵向） 。该工具后是安装在一个马车，而这反过来又获得支持的方式加工的床，确保刚性和免受震动。悬垂部分，停机坪的运输，可从事与饲料棒给予连续进给运动，或与丝杠切割的线程。很长工件的担保反对过度偏转的两个手指中心稳步休息休息或螺栓的车床床;后续其余贴近马车。 有时工具后坐在休息复合工具结合幻灯片，可以设置在任何角度，因此，圆锥表面可以通过手喂养工具。参观双向工具后可旋转约竖井，并允许快速变化的工具，在预设的立场，从而加快连续行动。示踪剂或重复车床的设计制造形状不规则零件自动。基本操作这一车床如下。模板的任何一个单位或三维形状是放置在一个时段。阿导或指针然后继续沿着这条形状和其运动控制的切削刀具。重复可能包括方形或锥形，肩膀，半径，沟槽，蜡烛，和轮廓，工作，如电机轴，主轴，价值茎，活塞，杆，汽车车轴，涡轮轴，以及各种其他的物体也可以打开使用这种类型的车床。转塔车床的生产车床是用来制造任何数量的相同件。 螺杆机类似的建设炮塔车床，但他们的头上旨在保持和饲料长期酒吧的股票。否则，没有什么区别。
A force is a push or pull. The effect of a force either changes the shape or motion of a body or prevents other forces from making such changes. Every force produces a stress in the part on which it is applied. Forces may be produced by an individual using muscular (action) or by machines with mechanical motion. 力可以是推力或是拉力。力量可以改变一个物体的形状或运动，或者阻止其他力量造成这种改变。每种力量在其使用的部位都会产生应力；力量可以由人通过肌肉的活动或者是机器的机械运动所产生。 Forces are produced by physical or (chemical) change, gravity, or changes in motion. When a force is applied which tends to stretch an object, it is called a tensile force. A part experiencing a tensile force is said to be in tension. A force can also be applied which tends to shorten or squeeze the object. Such a force is a compressive force. 物理或化学变化，引力或运动中的变化都可产生力量。当力量的使用趋向于伸展某个物体时，这被称作拉伸力，而受拉伸力的部位称为受拉或张力。力量也能缩短或压榨物体，这种力量称为压缩力。 A third force is known as a (torsion) force, or a torque since it tends to twist an object. Still another kind of force, which seems to make the layers or molecules of a material slide or slip on one another, is a shearing force. 第三种力量称为扭力或转矩，因为它趋向于扭曲物体。还有一种力量称为剪力，它似乎能使材料的内层间或分子相互滑行或滑落。 Each of these forces may act independently or in combination. For example, a downward force applied on a vertical steel beam tends to compress the beam,. If this beam is placed in a (horizontal) position and a load is applied in the middle, the bottom of the beam tends to stretch and is in tension. At the same time, the top area is being pushed together in compression. If the compressive and tensile forces are great enough to make the layers of the material slide upon each other, a shearing force results. 这些力量可以单独或组合产生作用。例如：在垂直的钢梁上向下着力，这趋向于压缩钢梁；如果钢梁是处于水平位置，并在其中间部位施加压力，钢梁底部趋向伸展，呈受拉状态。同时，梁的上面部位受压缩被推挤在一起。如果压缩力和拉伸力足够强大，促使材料内层间相互滑行，这就形成剪力。 【注：原文有几个用刮弧标出的错字已被纠正。】
力分为拉力和压力。力的作用结果可以改变物体的形状，运动状态和产生阻力。每一个力都对施力物体产生压力。力可以通过内部分子运动产生，也可通过外部机械运动产生。
兄弟，这么长，就出五分，你也太葛朗台了吧
2.1. Seed quality evaluation 2.1.1. Mechanical damage Three replications of 100 seeds were soaked in 1% sodium hypochlorite solution for 10 min. The seeds with seed coat damage swelled visibly and were counted using a hand lens. The split (%) was obtained by passing 200 g of seed through a 4.00mm round hole sieve. The material that passed through the sieve was termed as ‘‘splits’’ and then weighed (Anonymous, 1985). 2.1 豆种质量评估2.1.1机械损伤经过3遍流程的100颗豆种在1%的漂白液中浸泡10分钟。种子以及种皮的很明显地膨胀损坏可以通过手持透镜观测到。 破裂指数通过200g的种子经4毫米圆洞筛网筛选得到。通过筛网的原料被称作“破裂”然后称重。2.1.2. Germination test Germination ability was determined according to the Association of Official Seed Analysts (Anonymous, 1981). Three replications of 100 seeds were placed in presoaked germination paper and were then placed in a seed germinator at 251C for 7 days. After 7 days, the percentage of seeds germinating normally was recorded. 2.1.2 发芽力检测发芽能力是按照官方的种子专家学会去定义的。经过3次流程的100颗豆种被放置在发芽试纸上预浸，人后在发芽力检测仪上以251C的温度放置7天。 7天之后， 发芽种子的比例被记录下来。2.1.3. Seed vigor The seed vigor tests were conducted according to the International Seed Testing Association (ISTA) method (Anonymous, 1985). Sheets of paper towel with 350 seeds were kept in a seed germinator at 251C for 7 days. After 7 days, the lengths of germinated seedlings were measured in centimeters. The vigor index was calculated as vigor index ¼ 1 NX germination ð%Þ seedling length ðcmÞ; where N is the number of seeds that germinated. 2.1.3 种子的活力种子活力的检测是按照国际种子检测协会的步骤操作的。350颗豆种放在纸巾上，在种子发芽力检测仪器内以251C的温度保存7天， 7天之后， 以厘米为单位去测量种芽的长度。活力指数是按照vigor index ¼ 1 NX germination ð%Þ seedling length ðcmÞ; where N is the number of seeds that germinated.（此处由于有乱码， 无法翻译）2.1.4. Accelerated aging This test was used to predict the storage potential of seed. It combines the stresses caused by high temperature and high humidity to which seed maybe exposed. It is expected that the seed lots which record a higher level of germination in the accelerated aging test can be stored for a longer period than others. Two replications of 50 seeds were kept in perforated plastic boxes. These boxes were kept at 401C and at 100% relative humidity(r :h:) for 96 h. The germination of these lots was recorded as outlined by the ISTA (Anonymous, 1985). 2.1.4加速老化这个检测是用作预告种子的储存潜力的。 它包括也许种子露天放置时，由高温度和高湿度造成的作用。人们预计在发芽力检测中有高记录的那批种子能够在加速老化测验中比其它的种子储存的更久。经过2次流程的50颗种子保存在穿孔的盒子当中。这些盒子被放置在401C温度及100%相对湿度中96个小时。这批的发芽力被ISTA作为要点记录下来。2.2. Determination of moisture content The standard oven method outlined by the ISTA (Anonymous, 1985) was employed. Three replications of 10 g seed were kept in a hot air oven at 1021C for 24 h. At the end of this period, the samples were transferred to a desiccator for cooling. The samples were then weighed and moisture content calculated on a dry mass basis. 2.2 含水量的定义ISTA大纲中的标准加热程序被引用到这里。经过3次流程的10g豆种被保存在干烤箱中以1021C的温度放置24小时。 在检测最后， 样品被转移到干燥器中冷却。然后样品称重，并计算含水量，按照折干计算。2.3. Evaluation of damage due to free-fall To determine the effect of height of fall on the seed quality, three replications of 100 seeds, drawn from each treatment, were dropped from a height of 0.5, 1.0, 1.5, or 2.0m on to a cement floor or a galvanized iron floor. The dropped seeds were tested for germination and vigor as before. 2.4. Statistical analysis of data The data collected during the experiments were analyzed using ANOVA (Anonymous, 1992) to study the effects of m:c:; process stages and heights of free-fall on the parameters of seed quality. The differences in means were examined using the Tukey test of significance.2.3 由自由下落造成损失的评估为了确定下落高度对种子质量造成的影响， 经过3遍流程的100颗种子， 分别从0.5， 1.0， 1.5， 2.0米处下落到水泥地或者镀锌铁板上，象以前一样，下落的种子被检测种子发芽力以及活力。2.4数据统计分析使用ANOVA分析了在实验当中所收集的数据，研究了含水量，加工平台以及自由下落的高度参数在种子质量方面的影响。检测方式的差异已被Tukey test of significance.验证。
IntroductionMachining aims to generate the shape of work-piece form a solid body,or to improve the tolerances and surface finish of a previously formed work-piece,by removing excess materials in the form of chips. Machining is capable of creating geometric configurations,tolerances, and surface finishes often unobtainable by any other technique.However, machining removes materials, which has already been paid for, in the form of relatively small particles that are more difficult to recycle and are in greater danger of becoming mixed. Therefore,developments often aim at reducing or-if at all possible-eliminating machining, especially in mass production.For these reasons, machining has lost some important markets, yet, at the same time, it has also been developing and especially having captured new markets with the application of numerical control.Some feel for the important of machining may be gained from the observation that in 1983 there were about 2 million metal-cutting machine tools in the unite states ( of which some 5% were numerically controlled ) and that labor and overhead costs amounted to $125 billion, or 3% of the GNP.
In view of the pivotal role of rolling bearing in rotating machinery and equipment, it is very important to diagnose the fault, and it is the best way and means to establish a set of efficient and convenient bearing fault diagnosis system. Most of the traditional diagnostic system depends on a number of professional hardware equipment, these instruments are obviously difficult to meet the requirements of information technology, and caused a lot of hardware redundancy. With the rapid development of computer technology, the virtual instrument technology has been applied to the field of bearing fault diagnosis has become a trend. This paper introduces the characteristics and structure of virtual instrument technology. On this basis, the resonance demodulation technique is introduced into the signal analysis of virtual instrument to extract and analyze the bearing fault signal. Finally, based on LABVIEW platform, a set of virtual instrument for bearing fault signal analysis is developed.
IntroductionMachining aims to generate the shape of work-piece form a solid body,or to improve the tolerances and surface finish of a previously formed work-piece,by removing excess materials in the form of chips. Machining is capable of creating geometric configurations,tolerances, and surface finishes often unobtainable by any other technique.However, machining removes materials, which has already been paid for, in the form of relatively small particles that are more difficult to recycle and are in greater danger of becoming mixed. Therefore,developments often aim at reducing or-if at all possible-eliminating machining, especially in mass production.For these reasons, machining has lost some important markets, yet, at the same time, it has also been developing and especially having captured new markets with the application of numerical control.Some feel for the important of machining may be gained from the observation that in 1983 there were about 2 million metal-cutting machine tools in the unite states ( of which some 5% were numerically controlled ) and that labor and overhead costs amounted to $125 billion, or 3% of the GNP.
The application of reconfigurable logic to high speedCNC milling machines controllers高速数控铣床控制器的可远程控制逻辑的应用摘要 可远程控制型逻辑已经在高速计算机数控数字控制器中达到资料检索能力，在这种控制器中现代伺服系统上的高速处理速度是临界的。因为它们的开放式体系结构使得它们适于单芯片应用系统，像现场可编程门阵列的可远程控制装置因其相似的逻辑复杂性而优于微处理器和的数字信号处理。这项工作的贡献是为了达到现代伺服系统要求应用于高速数控铣床现场可编程门阵列的基础上的比例-积分-微分控制器的发展。结果表明比例-积分-微分控制系统的功能性，它已经合成为现场可编程门阵列平台，成功地应用于高速数控铣床。R 2007埃尔斯韦尔有限公司（R 2007 Elsevier Ltd）保留所有合法权利。关键词：可远程控制逻辑，高速数控，现场可编程门阵列，现代伺服系统导言 高速电脑数控机床运转控制包括大于40米/秒进料率以及高于1克的加速动力，有时候是2克(引自Wang, Liu, & Ai, 2003)。 由于这些因素，相对于传统速度电脑数控，对高速电脑数控机床的运转控制器在电子设计上具有较高要求，这就需要较高的减少在线加工有效时间的取样比例（现代伺服系统）并行存储器地址计数器(Delta Tau, 2005)和数字微型电路-180 (Galil Motion, 2004) 是一些基于现有数字信号处理器的最通用的市场上可买到的电脑数控控制器和它们专用控制算法设备的微型载体，在这里额外的设施也是为在一个固定的封闭的体系结构上的处理器支持，这种架构非常适于标准速度处理。由于商用数字信号处理和微处理器上的连续的处理数据流程，对高速控制取样比例的增加可以在处理器运作上强加严厉的限制；因此，为了达到在线运转，其他信号处理交替必须予以考虑。 高速伺服系统控制器作为硬件附设印刷电路板隐藏在个人电脑（PC机）中，这种电路板不受需要大量资源的计算的约束。现场可编程门阵列 (FPGA) 已经以单芯片系统(SOC)应用软件在赢得市场，这是因为它们可以整合由用户定义的使硬件内外部设备逻辑联系起来的处理组件，这种组件组合了不依赖厂商或特殊的平台的开放式体系结构。为整合处理组件以及它们作为SOC进入现场可编程门阵列相关的外部逻辑支持，该装置给设计者提供了足够的自由在完善生成廉价单片机的构建能级时去完成特殊任务。 现场可编程门阵列是基础的逻辑板的阵列，在这里使用者可以定义其内部连结性，使得它们在整个开式结构中可编程。因此，现场可编程门阵列具有一般用途的处理器和可以远程控制许多次的专业化电路的优点，好像直到得到要求的泛函性。现场可编程门阵列的速度和大小比得上专用集成电路(ASIC)，但是现场可编程门阵列更灵活，它的设计流程由于可远程控制而更短。现场可编程门阵列超出数字逻辑电路的简单设备；它们可被用于专门体系结构的设备去执行加速演算法。进入现场可编程门阵列运行演算法的专门体系结构比数字信号处理（DSP）中的设备或者为处理器可有高10-100倍的运行速度。另一方面，数字信号处理和微处理器有固定的用于运算的连续体系机构，在样本之间的处理时间大量减少时，该机构可以毫不费力的负载，而现场可编程门阵列有一个简单自然的并行体系结构进行高速计算。除了优越性已经被证实以外，现场可编程门阵列的发展在硬件描述语言(HDL),的情况下被完成，这一点使得便携式和台式不受约束，这倒不是市场上可买到的数字信号处理器或微处理器的原因。 通过与其它装置相比较，突出其最终工业应用的多功能型、效用性和实用性，本文的主要目的是表明用现场可编程门阵列为电脑数控在比例-积分-微分控制器设计中的有利性和优越性。试验结果表明一种经济而简易的选择，这中选择可满足在电脑数控工作母机控制上的精确性和联机处理时间要求必备的条件
摘要- Cobots是一类机器人的使用不断 无级变速发展高保真可编程 约束的表面。 Cobots消耗很少的电力 即使在提供高输出部队，其传输效率高众多的 传动比。 Cobotic变速箱也有能力 采取行动作为一个制动器或将成为完全免费。设计 和性能Cobotic手控制器，最近 发达国家六自由度触觉显示器，是审查。 这个装置表明，高动态范围和低功耗 消费实现的cobots 。彻底的比较 电源效率cobotic系统与传统的 机电系统提供。 三个关键要求机器人技术用于 假肢和康复是低体重，低功耗 消费和安全性。我们建议cobotic技术作为 传输架构，可以处理这些问题。 Cobots是机器人利用非完整约束 的指导车轮的相对速度有关的 机制的联系。阿cobotic传播是一个不断 无级变速器（无级变速器）之间的积极和消极 比率，可以涉及两个平移速度，两个 旋转速度，或旋转速度为平移 速度[ 1 ] 。我们最近推出了Cobotic手 控制器（图1 ） ，六自由度动力 合作机器人，并阐述其能力作为触觉界面[ 2 ， 3 ] 。通过本论文中，我们表明， 机械结构和传输中使用 Cobotic手控制器处理所有三个以上 上述要求的假肢和机器人 康复。
在上次的基础上做了对应的调整和适当的修改。望分析体会，以求能有所收获！AbstractThe article is entitled as Process Tooling Design and CAD/CAM of the Rocker Axle Base from Chao Yang Diesel Co.,Ltd.. The design aims to complete the module design of 195 diesel rocker axle base, the draw up of its processing line and procedure card and the design of manufacturing special fixture, etc.Model-designed by the 3D shaping software Pro/E, the content consists of the following: solid mold which spares and blanks are built by the spare mold, design for the investment casting molds involving the analysis, calculation and design of mouldjoint, gating system, ejecting machine, punch-cum-blanking die and the die base,etc. Then complete the final assembling drawing according to the engineering module and the CAXA electronic drawing board. Establish the spares processing techinical procedure,including the select of the processing method, the sketch out of the processing line and the definition of the maching allowance. Then calculate the techinical parameter and establish corresponding process card in light of the technical schedule. Design two sets of special milling machines and one set of special drilling machine. After the analysis, select and design, finally accomplish the engineering drawing by use of CAXA electonic sketch board.The design difficulty is the jigs and the moulds. After refering to plenty of documents, settle down these problems and round off the design under the guide of teachers.Key Words: solid model, module, jig, procedure
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Abstract— Cobots是连续地使用机器人的类 开发高保真度可编程序的variable传输 constraint表面。 Cobots消耗很少电能 ，既使当提供高产力量和他们的传输横跨各种各样是非常有效率的transmission比率。 Cobotic传输也有能力 to作为闸或变得完全地自由。 设计 Cobotic手控制器的and表现，最近a developed六程度自由触觉显示，被回顾。 This设备说明高力学范围和低功率 consumption可达成由cobots。 彻底的比较 the一个cobotic系统的出力效率对常规 提供electro-mechanical系统。机器人技术的Three关键要求使用为 prosthetics和修复是低重量，低功率 consumption和安全。 我们提出cobotic技术作为a 可能论及所有这些问题的transmission建筑学。 Cobots是运用nonholonomic限制的机器人 of 操纵 轮子 关连 相对 速度 mechanism链接。 cobotic传输连续地是a variable传输(CVT)在正面和阴性之间 ratios， 并且 能 关连 二 平移 速度， 二 rotational速度或者对平移的旋转的速度 velocity [1]。 我们最近介绍了Cobotic手 Controller (图 1)， a 供给动力的六程度自由 cobot和描述它的能力作为一个触觉接口[2， 3]。 通过本文路线，我们显示出， mechanical 建筑学 并且 传输 使用 在 Cobotic手控制器地址全部三在上面 机器人学的mentioned要求的弭补科和 rehabilitation.
IntroductionMachining aims to generate the shape of work-piece form a solid body,or to improve the tolerances and surface finish of a previously formed work-piece,by removing excess materials in the form of chips. Machining is capable of creating geometric configurations,tolerances, and surface finishes often unobtainable by any other technique.However, machining removes materials, which has already been paid for, in the form of relatively small particles that are more difficult to recycle and are in greater danger of becoming mixed. Therefore,developments often aim at reducing or-if at all possible-eliminating machining, especially in mass production.For these reasons, machining has lost some important markets, yet, at the same time, it has also been developing and especially having captured new markets with the application of numerical control.Some feel for the important of machining may be gained from the observation that in 1983 there were about 2 million metal-cutting machine tools in the unite states ( of which some 5% were numerically controlled ) and that labor and overhead costs amounted to $125 billion, or 3% of the GNP.
• The Lathe and Its Construction车床及其结构 A lathe is a machine tool used primarily for producing surfaces of revolution and flat edges. 车床是主要用于生成旋转表面和平整边缘的机床。Based on their purpose, construction, number of tools that can simultaneously be mounted, and degree of automation, lathes-or, more accurately, lathe-type machine tools can be classified as follows:根据它们的使用目的、结构、能同时被安装刀具的数量和自动化的程度，车床—或更确切地说是车床类的机床，可以被分成以下几类： (1)Engine lathes(2)Toolroom lathes(3)Turret lathes(4)Vertical turning and boring mills(5)Automatic lathes(6)Special-purpose lathes(1)普通车床(2)万能车床(3)转塔车床(4)立式车床(5)自动车床(6)特殊车床 In spite of that diversity of lathe-type machine tools, they all have common features with respect to construction and principle of operation. These features can best be illustrated by considering the commonly used representative type, the engine lathe. Following is a description of each of the main elements of an engine lathe, which is shown in Fig.11.1. 虽然车床类的机床多种多样，但它们在结构和操作原理上具有共同特性。这些特性可以通过普通车床这一最常用的代表性类型来最好地说明。下面是关于图11.1所示普通车床的主要部分的描述。 Lathe bed. The lathe bed is the main frame, involving a horizontal beam on two vertical supports. It is usually made of grey or nodular cast iron to damp vibrations and is made by casting. 车床床身：车床床身是包含了在两个垂直支柱上水平横梁的主骨架。为减振它一般由灰铸铁或球墨铸铁铸造而成。It has guideways to allow the carriage to slide easily lengthwise. The height of the lathe bed should be appropriate to enable the technician to do his or her job easily and comfortably.它上面有能让大拖板轻易纵向滑动的导轨。车床床身的高度应适当以让技师容易而舒适地工作。 Headstock. The headstock is fixed at the left hand side of the lathe bed and includes the spindle whose axis is parallel to the guideways (the slide surface of the bed). The spindle is driven through the gearbox, which is housed within the headstock. 主轴箱：主轴箱固定在车床床身的左侧，它包括轴线平行于导轨的主轴。主轴通过装在主轴箱内的齿轮箱驱动。The function of the gearbox is to provide a number of different spindle speeds (usually 6 up to 18 speeds). Some modern lathes have headstocks with infinitely variable spindle speeds, which employ frictional ,electrical ,or hydraulic drives.齿轮箱的功能是给主轴提供若干不同的速度(通常是6到18速)。有些现代车床具有采用摩擦、电力或液压驱动的无级调速主轴箱。 The spindle is always hollow, i. e., it has a through hole extending lengthwise. Bar stocks can be fed through that hole if continuous production is adopted. 主轴往往是中空的，即纵向有一通孔。如果采取连续生产，棒料能通过此孔进给。Also, that hole has a tapered surface to allow mounting a plain lathe center. The outer surface of the spindle is threaded to allow mounting of a chuck, a face plate, or the like.同时，此孔为锥形表面可以安装普通车床顶尖。主轴外表面是螺纹可以安装卡盘、花盘或类似的装置。 Tailstock. The tailstock assembly consists basically of three parts, its lower base, an intermediate part, and the quill. The lower base is a casting that can slide on the lathe bed along the guideways, and it has a clamping device to enable locking the entire tailstock at any desired location, depending upon the length of the workpiece. 尾架：尾架总成基本包括三部分，底座、尾架体和套筒轴。底座是能在车床床身上沿导轨滑动的铸件，它有一定位装置能让整个尾架根据工件长度锁定在任何需要位置。The intermediate part is a casting that can be moved transversely to enable alignment of the axis of the tailstock with that of the headstock. The third part, the quill, is a hardened steel tube, which can be moved longitudinally in and out of the intermediate part as required. 尾架体为一能横向运动的铸件，它可以调整尾架轴线与主轴箱轴线成一直线。第三部分，套筒轴是一淬硬钢管，它能根据需要在尾架体中纵向进出移动。This is achieved through the use of a handwheel and a screw, around which a nut fixed to the quill is engaged. The hole in the open side of the quill is tapered to enable mounting of lathe centers or other tools like twist drills or boring bars. The quill can be locked at any point along its travel path by means of a clamping device.这通过使用手轮和螺杆来达到，与螺杆啮合的是一固接在套筒轴上的螺母。套筒轴开口端的孔是锥形的，能安装车床顶尖或诸如麻花钻和镗杆之类的工具。套筒轴通过定位装置能沿着它的移动路径被锁定在任何点。 The carriage. The main function of the carriage is mounting of the cutting tools and generating longitudinal and/or cross feeds. It is actually an H-shaped block that slides on the lathe bed between the headstock and tailstock while being guided by the V-shaped guideways of the bed. 大拖板：大拖板的主要功能是安装刀具和产生纵向和/或横向进给。它实际上是一由车床床身V形导轨引导的、能在车床床身主轴箱和尾架之间滑动的H形滑块。The carriage can be moved either manually or mechanically by means of the apron and either the feed rod or the lead screw.大拖板能手动或者通过溜板箱和光杆(进给杆)或丝杆(引导螺杆)机动。 When cutting screw threads, power is provided to the gearbox of the apron by the lead screw. In all other turning operations, it is the feed rod that drives the carriage. The lead screw goes through a pair of half nuts, which are fixed to the rear of the apron. 在切削螺旋时，动力通过丝杆提供给溜板箱上的齿轮箱。在其余车削作业中，都由光杆驱动大拖板。丝杆穿过一对固定在溜板箱后部的剖分螺母。When actuating a certain lever, the half nuts are clamped together and engage with the rotating lead screw as a single nut, which is fed, together with the carriage, along the bed. When the lever is disengaged, the half nuts are released and the carriage stops.当开动特定操作杆时，剖分螺母夹在一起作为单个螺母与旋转的丝杆啮合，并带动拖板沿着床身提供进给。当操作杆脱离时，剖分螺母释放同时大拖板停止运动。On the other hand, when the feed rod is used, it supplies power to the apron through a worm gear. The latter is keyed to the feed rod and travels with the apron along the feed rod, which has a keyway extending to cover its whole length.另一方面，当使用光杆时则通过蜗轮给溜板箱提供动力。 蜗轮用键连接在光杆上，并与溜板箱一起沿光杆运动，光杆全长范围开有键槽。A modern lathe usually has a quick-change gearbox located under the headstock and driven from the spindle through a train of gears. It is connected to both the feed rod and the lead screw and enables selecting a variety of feeds easily and rapidly by simply shifting the appropriate levers. 现代车床一般在主轴箱下装备快速变换齿轮箱，通过一系列齿轮由主轴驱动。它与光杆和丝杆连接，能容易并快速地通过简单转换适当的操作杆选择各种进给。The quick-change gearbox is employed in plain turning, facing and thread cutting operations. Since that gearbox is linked to the spindle, the distance that the apron (and the cuttingtool) travels for each revolution of the spindle can be controlled and is referred to as the feed.快速变换齿轮箱可用于普通车削、端面切削和螺旋切削作业中。由于这种齿轮箱与主轴相连，主轴每转一圈溜板箱(和切削刀具)运动的距离能被控制，这距离就可以被认为是进给。