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書籍和課本中關(guān)于關(guān)節(jié)機(jī)械手（也常稱為機(jī)器人手臂）及碼垛機(jī)的內(nèi)容，通常會涵蓋以下幾個方面：

1. 基本原理與結(jié)構(gòu)

：介紹關(guān)節(jié)機(jī)械手的基本組成，包括底座、臂部、腕部和末端執(zhí)行器等部分。關(guān)節(jié)機(jī)械手通過一系列可旋轉(zhuǎn)的關(guān)節(jié)（如旋轉(zhuǎn)關(guān)節(jié)、俯仰關(guān)節(jié)、偏轉(zhuǎn)關(guān)節(jié)等）實現(xiàn)空間中的自由度運動。碼垛機(jī)作為工業(yè)應(yīng)用中的一個分支，特別強(qiáng)調(diào)其在搬運、堆疊箱子或托盤等重物時的設(shè)計特點。

2. 運動學(xué)與動力學(xué)

：這部分會講解如何通過數(shù)學(xué)模型描述機(jī)械手在空間中的位置和姿態(tài)（運動學(xué)），以及分析作用力和力矩如何影響其運動（動力學(xué)）。這對于理解和設(shè)計高效的碼垛過程至關(guān)重要。

3. 控制系統(tǒng)

：介紹控制關(guān)節(jié)機(jī)械手運動的硬件和軟件系統(tǒng)，包括傳感器（如位置傳感器、力傳感器）、控制器（如PLC、PC-based控制器）以及編程方法（如點位控制、連續(xù)路徑控制）。

4. 編程技術(shù)

：講解如何為關(guān)節(jié)機(jī)械手編寫任務(wù)程序，包括使用示教編程（TP，Teach Pendant操作）、離線編程軟件以及高級編程語言（如Python、Java）進(jìn)行復(fù)雜的邏輯控制和路徑規(guī)劃。

5. 應(yīng)用案例

：展示關(guān)節(jié)機(jī)械手在不同行業(yè)碼垛應(yīng)用中的實例，如食品飲料、制藥、物流倉庫等，包括自動化生產(chǎn)線上的物料搬運、包裝、碼垛和拆垛過程。

6. 安全規(guī)范

：強(qiáng)調(diào)在設(shè)計和使用關(guān)節(jié)機(jī)械手碼垛機(jī)時需遵循的安全標(biāo)準(zhǔn)和措施，確保人員安全和生產(chǎn)效率。

Books and textbooks about articulated manipulators (also commonly referred to as robotic arms) and palletizers usually cover the following aspects:

1. Rationale and structure

: Introduce the basic components of the articulated manipulator, including the base, arm, wrist and end effector. The joint manipulator realizes the degree of freedom movement in space through a series of rotatable joints (such as rotary joints, pitch joints, deflection joints, etc.). Palletizers, as a branch of industrial applications, place special emphasis on their design features when handling and stacking heavy loads such as boxes or pallets.

2. Kinematics and Dynamics

This section explains how to describe the position and attitude of the robot in space through mathematical models (kinematics) and how forces and moments affect its motion (dynamics). This is essential for understanding and designing an efficient palletizing process.

3. Control system

: Introduces the hardware and software systems that control the motion of the articulated manipulator, including sensors (e.g., position sensors, force sensors), controllers (e.g., PLC, PC-based controllers), and programming methods (e.g., point control, continuous path control).

4. Programming techniques

: Explain how to program tasks for articulated manipulators, including complex logic control and path planning using teach-in programming (TP, Teach Pendant operation), offline programming software, and high-level programming languages (e.g., Python, Java).

5. Application cases

: Demonstrate examples of articulated manipulators in palletizing applications in different industries, such as food and beverage, pharmaceutical, logistics warehouses, etc., including material handling, packaging, palletizing, and depalletizing processes on automated production lines.

6. Safety Specifications

: Emphasizing the safety standards and measures to be followed in the design and use of articulated manipulator palletizers to ensure personnel safety and productivity.