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 bigand 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. oday, 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 \nse\nical arm is to use the program as a basis. Difference is that the robot begand实验一 数控系统的认识
实验目的
1. 掌握数控机床的特点与运用；
2. 认识了解数控加工机床的组成与结构； 3. 掌握数控加工的工作原理；
4. 掌握数控机床一般的操作步骤和基本编程； 实验内容
一、数控机床的组成、特点及分类
1. 数控机床的组成：
现代数控机床都是CNC机床，一般由数控操作系统和机床本体组成，主要有如下几部分组成。
1). CNC装置：
计算机数控装置（即CNC装置）是CNC系统的核心，由微处理器（CPU）、存储器、各I／O接口及外围逻辑电路等构成。
2). 数控面板：
数控面板是数控系统的控制面板，主要有显示器和键盘组成。通过键盘和显示器实现系统管理和对数控程序及有关数据进行输入和编辑修改。
3). 可编程逻辑控制器PLC：
PLC是一种以微处理器为基础的通用型自动控制装置，用于完成数控机床的各种逻辑运算和顺序控制。例如：主轴的启停、刀具的更换、冷却液的开关等辅助动作。
4). 机床操作面板：
一般数控机床均布置一个机床操作面板，用于在手动方式下对机床进行一些必要的操作，以及在自动方式下对机床的运行进行必要的干预。上面布置有各种所需的按钮和开关。
5). 伺服系统：
伺服系统分为进给伺服系统和主轴伺服系统，进给伺服系统主要有进给伺服单元和伺服进给电机组成。用于完成刀架和工作台的各项运动。主轴伺服系统用于数控机床的主轴驱动，一般由恒转矩调速和恒功率调速。为满足某些加工要求，还要求主轴和进给驱动能同步控制。
6). 机床本体：
机床本体的设计与制造，首先应满足数控加工的需要，具有刚度大、精度高、能适应自动运行等特点，由于一般均采用无级调速技术，使得机床进给运动和主传动的变速机构被大大简化甚至取消，为满足高精度的传动要求，广泛采用滚珠丝杆、滚动导轨等高精度传动件。为提高生产率和满足自动加工的要求，还采用自动刀架以及能自动更换工件的自动夹具等。
二、数控机床加工程序的编制
数控机床是按编制好的程序进行加工，因此程序编制的好坏，直接影响加工过程是否能正常进行，加工的零件是否能达到图纸要求。这就要求编制程序的人员，不仅要掌握数控机床工作原理和程序结构，而且还要掌握各种零件加工工艺性。零件程序编制一般包括如下五个方面：分析零件图纸、对零件进行工艺分析及处理、对零件进行数学处理、编写零件加工程序清单，对程序进行调试与修改并最终确定。
1. 分析零件图纸：
任何一个零件无论怎样加工，首先应对其零件图进行分析。全面了解被加工零件的几
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 industriaautomation 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 systemhas 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 isManipulator 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 bigand 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. oday, 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 \nse\nical arm is to use the program as a basis. Difference is that the robot begand何形状、尺寸大小、零件材料及热处理情况，为工艺处理做好准备。
2. 工艺分析与处理：
工艺分析就是编制零件的加工工艺，包括毛坯选择、工装夹具选择、刀具选择以及热处理的安排等。对于数控加工还有选择工件坐标原点、确定加工中的换刀点以及走刀路线的确定等。
a. 确定加工方案：首先选择使用的数控机床和工装夹具，其次选择加工刀具以及切削用量。
b. 建立工件坐标系：确定工件坐标系与机床坐标系之间的正确关系，给刀具运动轨迹的确定和加工中几何尺寸的计算做准备，同时应考虑零件形位公差的要求。
c. 确定加工中的对刀点和换刀点：数控机床的对刀点、换刀点和加工中的刀具的起点一般为同一点。这一点在选择上，首先要方面检测和刀具轨迹的计算，其次要是换刀点与工件有一个安全的距离，却不允许换刀时刀具与工件发生碰撞，最后还要注意换刀点与工件相距不可太大，造成过大的空行程，应使刀具与工件保持一个安全合理的距离。注意不同的数控机床，其对刀点和换刀点的确定也不尽相同。
d. 选择合理的走刀路线：走刀路线就是整个加工过程中，刀具相对工件的具体运动轨迹，包括快速运动的空行程和根据需要进行的加工过程。选择时首先应确保加工零件的精度和表面质量的要求，其次应注意尽量减少走刀路线和空行程，提高生产效率，最后应注意使计算简单、减少程序数目和编程工作量。
e. 合理安排辅助功能：加工中应根据需要合理安排一些辅助项目。如：切削液的启停、主轴的速度变换、对重要加工尺寸安排停机检测等。
3. 数学处理：
所谓的数学处理，就是根据零件图纸尺寸、已确定的走刀路线，计算数控编程时所需的数据。主要有各个基本点的计算、列表曲线的拟合、复杂的三维曲线或曲面的坐标运算等方面。
4. 编制零件加工程序：
根据确定的走刀路线、计算完成的各个数据和已确定的切削用量，按照CNC系统的加工指令代码和程序段格式，编写零件加工程序清单。编写过程应严格遵守编程说明书的规定，编程方法一般有手动编程和计算机辅助编程。单个小型零件可采用手动编程，复杂大型零件应采用计算机辅助编程，以提高编程效率和质量，减轻编程劳动强度。
5. 加工程序的调试与最终的确定： 加工程序编制完成后，应将其输入数控系统的计算机中。可以通过CNC控制菜单输入，也可以运用DOS中的编辑器进行输入。输入完毕后，应对其进行语法检测、示教演示、模拟加工等，最后进行首件试加工且检测无误后，确定最后的加工程序。 三、实验的方法与步骤
1. 对照数控机床认识机床的各个组成部分：
a. 认识并熟悉数控系统的各个部分，包括数控主机的控制面板、显示器、键盘等。 b. 认识并熟悉机床本体的各个部分，包括床身、导轨、步进电机、丝杆、工件夹头、
刀架、控制开关等。
c. 熟悉并掌握整个数控机床的启动和停止。 2. 启动数控机床认识并熟悉操作系统：
a. 启动数控机床进入主控菜单，对主控菜单中各个子菜单进行熟悉，了解并掌握进
入、退出各级菜单的方法。
b. 分别进入各级子菜单，对各级子菜单的作用进行认识，重点掌握“文件编辑、参
数设定、坐标设定、手动运行、立即执行、示教功能、模拟加工”各子菜单中的内容，以及各个功能键的作用。
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 industria
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 is2
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 ofdevelopment. 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 bigand 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. oday, 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, understnd 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 nd 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 \nse\nical arm is to use the program as a basis. Difference is that the robot begandc. 熟悉数控机床的控制面板，了解并掌握控制面板中各个功能键的作用，以及同各
级子菜单中一些功能相互结合的运用。
d. 调出准备好的一个或二个加工程序，进行手动运行、示教功能、模拟加工等各项
演示。 四、思考题
1. 数控机床的工作原理是什么？
2. 结合本次试验，谈谈本数控系统刀具参数的设定方法？ 3. 工件坐标系是如何建立的？
实验二 数控车床操作与编程加工
一、半圆、直线的加工
1．实验目的：使学生掌握数控车床面板的基本操作，掌握基本的G代码编辑，学会分析简单轴类零件加工的工艺方法。 2．实验设备：车床数控模拟实验系统 3．加工工艺确定
1) 加工方式： 2) 加工刀具： 3) 切削用量：
4) 编程原点及工艺路线选择： 加工零件见图
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 industria
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 is3
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 bigand 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. oday, 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 \nse\nical arm is to use the program as a basis. Difference is that the robot begand 4．程序编辑
参阅实验教材编写零件的加工程序。
5．上机操作及加工 1) 输入零件程序
2) 程序校验及空运行仿真 6．实验程序：
二、螺纹加工
1．实验目的：通过对螺纹的加工，使学生了解掌握螺纹加工的原理及编程方法。 2．实验设备：车床数控模拟实验系统 3．加工工艺确定
1）工刀具选择： 2）切削用量选择： 3）切削用量：
4）编程原点及工艺路线选择 加工零件见图
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 industria
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 is4
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 ofdevelopment. 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 bigand 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. oday, 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, understnd 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 nd 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 \nse\nical arm is to use the program as a basis. Difference is that the robot begand
材料Ф25mm铝棒或塑料棒 4．程序编辑
参阅实验教材编写零件的加工程序。 5．上机操作及加工 1） 输入零件程序
2） 通过数控车多媒体仿真软件观察车床的加工过程 3） 程序校验及图形仿真 6．实验程序：
三、数控车床基本操作 1、实验目的要求
1）了解数控机床教学系统的组成结构、特点及功能。 2）了解机床操作面板各按钮的功能。 3）了解数控系统的菜单功能和菜单结构。 4）上机练习程序的编辑与系统的设置。 5）学习系统的运行操作方法。
要求上机前仔细阅读数控机床加工编程与实验教材的有关部分，了解数控系统与机床的技术指标、数控功能及操作方法，通过实验掌握数控系统的基本操作。 2、实验设备：CAK6150Di车床（FANUC oi数控系统） 3、实验步骤与内容
1）现场了解数控机床教学系统的组成结构、特点、功能。 2）接通电源，启动系统。 3）在机上试验系统的菜单功能。
4）练习程序编辑和进行工件坐标系的设定及刀具补偿的设定等操作。 5）进行手动、MDI和回零等操作。
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 industria
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 is5