1銆佸紩瑷€

Delta骞惰伅(li谩n)姗�(j墨)鍣ㄤ汉鍦�1985骞磋獣鐢熷湪鐟炲＋鐨勬礇妗戣伅(li谩n)閭︾悊宸ュ(xu茅)闄紝鏄敱R.clavel鎻愬嚭鐨�锛屽洜鍏跺熀搴у钩鑷�(t谩i)鍜岄亱(y霉n)鍕�(d貌ng)骞宠嚭(t谩i)閮藉憟鐝�(xi脿n)涓夎褰㈠舰鐙€鑰屽緱鍚�銆傜暥(d膩ng)鏅�(sh铆)宸ユキ(y猫)鐢熺敘(ch菐n)涓揩鍒囬渶瑕佷竴绋(j墨)鍣ㄤ汉锛岄€欑ó姗�(j墨)鍣ㄤ汉鏄竴绋皬鍨嬪寲鐨勬(j墨)妲�(g貌u)锛岀敤浜庡(sh铆)鐝�(xi脿n)灏�(du矛)杓曞皬鐗╀欢鐨勫揩閫熸姄鍙栧拰鏀剧疆锛屾瘡绉掕兘瀹屾垚鍏╂浠ヤ笂鐨勫惊鐠�(hu谩n)鎿嶄綔锛孌elta姗�(j墨)鍣ㄤ汉鎳�(y墨ng)閬�(y霉n)鑰岀敓[1]銆傜洿鍒板湪1999骞达紝ABB 闁嬪鎺ㄥ唬鑷繁鐨刣elta姗�(j墨)鍣ㄤ汉锛孎(xi脿n)lexPicker銆傝繎浜涘勾锛屾棩鏈現anuc鍏徃浜﹀湪鎺ㄥ唬鍏禗elta楂橀€熷苟鑱�(li谩n)姗�(j墨)鍣ㄤ汉锛孧-3iA銆傛湰鏂囧熀浜庡(sh铆)椹�(y脿n)瀹ょ崹(d煤)绔嬬爺鐧�(f膩)涓斿凡鍒濇瀹屾垚鐨凞elta姗�(j墨)鍣ㄤ汉鏁撮珨鏋舵(g貌u)鍜屽姛鑳斤紝涓昏寰炴帶鍒剁殑瑙掑害鎺㈣◣Delta姗�(j墨)鍣ㄤ汉纭欢椹�(q奴)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鐨勬惌寤�锛岃瑕鸿瓨(sh铆)鍒ョ郴绲�(t菕ng)鐨勮ō(sh猫)瑷�(j矛)鍜岃粺浠舵帶鍒剁郴绲�(t菕ng)鐨勬柟妗�銆傛鏂规缍�(j墨ng)閬庡(sh铆)楂旀惌寤哄拰鎺у埗閬�(y霉n)琛屽(sh铆)椹�(y脿n)璀夋槑Delta姗�(j墨)鍣ㄤ汉骞惰伅(li谩n)姗�(j墨)妲�(g貌u)鍓涙€уソ锛岃鍕�(d貌ng)蹇€熷拰瀹氫綅绮惧害楂樼瓑鐗归粸(di菐n)锛屽皪(du矛)浜庡伐妤�(y猫)鐝�(xi脿n)鍫�(ch菐ng)骞惰伅(li谩n)楂橀€熸惉閬�(y霉n)姗�(j墨)鍣ㄤ汉鐨勭爺鐧�(f膩)鍏锋湁涓€瀹氱殑鍙冭€冨児(ji脿)鍊�銆�

2銆佽儗鏅粙绱�

宸ユキ(y猫)姗�(j墨)鍣ㄤ汉鏄竴绋▼搴忓彲绶ㄧ▼锛屽苟涓斿叿鏈夌崹(d煤)绔嬫帶鍒剁郴绲�(t菕ng)锛屾姄鏀惧拰鎿嶇副宸ュ叿鐨勮嚜鍕�(d貌ng)鍖栨(j墨)姊拌缃�锛屾槸鍏稿瀷鐨勬(j墨)闆讳竴楂斿寲楂樼鎶€鐢�(ch菐n)鍝�銆備竴鑸締璎涳紝鏍规摎(j霉)绲�(ji茅)妲�(g貌u)褰㈠紡涓嶅悓姗�(j墨)鍣ㄤ汉鍙垎鐐轰覆鑱�(li谩n)姗�(j墨)鍣ㄤ汉鍜屽苟鑱�(li谩n)姗�(j墨)鍣ㄤ汉鍏╁ぇ椤�銆備覆鑱�(li谩n)姗�(j墨)鍣ㄤ汉鏄洰鍓嶆渶甯歌鐨勫伐妤�(y猫)姗�(j墨)鍣ㄤ汉锛屼竴鑸殑涓茶伅(li谩n)姗�(j墨)鍣ㄤ汉寰€寰€鏈変竴鍊�(g猫)鎿汉鍖栫殑姗�(j墨)姊版墜鑷傜祼(ji茅)妲�(g貌u)锛屽嵆鍓涙€ч€ｆ帴鐨勪覆琛岄張锛岀敱鎺ラ牠锛堝鏃嬭綁(zhu菐n)锛夐€ｆ帴锛屽舰鎴愪竴鍊�(g猫)鑲┿€佽倶鎴栨墜鑵�銆傝┎椤炲瀷姗�(j墨)鍣ㄤ汉鐨勫劒(y艒u)鍕�(sh矛)鏄綔鐢ㄧ┖闁撹純澶�锛屽叾缂洪粸(di菐n)鏄竴鍊�(g猫)闁嬫斁鐨勯亱(y霉n)鍕�(d貌ng)绲�(ji茅)妲�(g貌u)鎵€鍥烘湁鐨勪綆鍓涘害锛屾敎甯跺拰绉诲嫊(d貌ng)鐨勫煼(zh铆)琛屽櫒鐨勯噸閲忛亷澶�锛屼粬鍊戝彲浠ユ搷绺辩殑鏈夋晥杓夎嵎鐩稿皪(du矛)杓冧綆锛岄張鎺ョ殑閷�(cu貌)瑾ょ殑绌嶇疮鍜屾斁澶х瓑銆�

骞惰伅(li谩n)姗�(j墨)鍣ㄤ汉鏄竴椤炲叏鏂扮殑姗�(j墨)鍣ㄤ汉锛屽畠鍏锋湁鍓涘害澶�銆佹壙杓夎兘鍔涘挤(qi谩ng)銆佺簿搴﹂珮銆佸彲鏌旀€ч仼鎳�(y墨ng)澶氱ó娴佹按绶氫綔妤�(y猫)绛夊劒(y艒u)榛�(di菐n)銆傚湪宸ユキ(y猫)涓婂苟鑱�(li谩n)姗�(j墨)鍣ㄤ汉鍙互浣滅偤绮惧瘑鎿嶄綔鐨勫井鍕�(d貌ng)鍣ㄦ垨澶т欢鐨勮閰嶆(j墨)鍣ㄤ汉绛�銆傜稉(j墨ng)閬庝簡骞惧崄骞寸殑鐮旂┒锛岄洊鐒跺苟鑱�(li谩n)姗�(j墨)鍣ㄤ汉鍦ㄧ悊璜栦笂宸茬稉(j墨ng)姣旇純鎴愮啛锛屼絾鏄ぇ閮ㄥ垎姗�(j墨)鍣ㄤ汉閭勬槸鍦ㄥぇ瀛�(xu茅)鐨勫(sh铆)椹�(y脿n)瀹�锛岃蛋閫�(j矛n)宸ユキ(y猫)鐢熺敘(ch菐n)鐝�(xi脿n)鍫�(ch菐ng)鐨勫苟鑱�(li谩n)姗�(j墨)鍣ㄤ汉閭勬瘮杓冨皯銆傞毃钁楁垜鍦嬪厛閫�(j矛n)鍒堕€犳妧琛�(sh霉)鐨勭櫦(f膩)灞�锛屽伐妤�(y猫)姗�(j墨)鍣ㄤ汉宸插緸鐣�(d膩ng)鍒濈殑鏌旀€т笂涓嬫枡瑁濈疆锛屾鍦ㄦ垚鐐洪珮鏁堢巼銆侀珮搴︽煍鎬у拰鍙噸绲勮閰�銆佸埗閫犲拰鍔犲伐鐨勫劒(y艒u)璩�(zh矛)閬告搰銆�

3. Delta姗�(j墨)鍣ㄤ汉纭欢鍜岃粺浠剁郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛)

瀹屾暣Delta姗�(j墨)鍣ㄤ汉鐨勭郴绲�(t菕ng)涓昏鍖呮嫭纭欢姗�(j墨)妲�(g貌u)瑷�(sh猫)瑷�(j矛)锛岄﹨(q奴)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)锛岃瑕哄湒璀�(sh铆)鍒ョ郴绲�(t菕ng)鍜岃粺浠舵帶鍒剁郴绲�(t菕ng)绲勬垚锛屽叿楂斿垎鐐哄涓嬪咕椤烇細

3.1 Delta姗�(j墨)鍣ㄤ汉绺介珨绲�(ji茅)妲�(g貌u)瑷�(sh猫)瑷�(j矛)锛岀‖浠堕﹨(q奴)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鎼缓

Delta楂橀€熷苟鑱�(li谩n)鎼亱(y霉n)姗�(j墨)鍣ㄤ汉濡傚湒1鎵€绀猴紝鍏锋湁4鍊�(g猫)鑷敱搴�锛屼富瑕佺敱闈滃钩鑷�(t谩i)銆佸嫊(d貌ng)骞宠嚭(t谩i)銆�3鏍逛富鍕�(d貌ng)妗�銆�3绲勫钩琛屽洓閭婂舰寰炲嫊(d貌ng)鏀張鍜屽嫊(d貌ng)骞宠嚭(t谩i)鏈鏃嬭綁(zhu菐n)鍩�(zh铆)琛屽櫒绲勬垚锛堢洰鍓嶆毇鏈涓婏級銆傚緸鍦�1涓彲浠ョ湅鍑�锛岄潨骞宠嚭(t谩i)鐨�3绲勯﹨(q奴)鍕�(d貌ng)鍠厓閫氶亷3姊濈浉鍚岀殑閬�(y霉n)鍕�(d貌ng)閺堝垎鍒ヨ垏閬�(y霉n)鍕�(d貌ng)骞宠嚭(t谩i)鐨�3姊濋倞閴告帴銆傛瘡姊濋亱(y霉n)鍕�(d貌ng)閺堜腑鏈�1鍊�(g猫)鐢�4鍊�(g猫)铏庡厠閴歌垏妗夸欢绲勬垚鐨勫钩琛屽洓閭婂舰闁夌挵(hu谩n)锛屾闁夌挵(hu谩n)鍐嶈垏1鍊�(g猫)甯惰綁(zhu菐n)鍕�(d貌ng)闂�(gu膩n)绡€(ji茅)鐨勯﹨(q奴)鍕�(d貌ng)鑷傜浉涓茶伅(li谩n)锛岄﹨(q奴)鍕�(d貌ng)鑷傜殑涓€绔浐瀹氬湪闈滃钩鑷�(t谩i)涓婏紝鍦ㄩ浕鍕�(d貌ng)姗�(j墨)鐨勯﹨(q奴)鍕�(d貌ng)涓嬪仛涓€瀹氳搴︾殑鎿哄嫊(d貌ng)锛岀稉(j墨ng)閬庢(j墨)姊板偝鍕�(d貌ng)鎺у埗鍕�(d貌ng)骞宠嚭(t谩i)鐨勯仩(yu菐n)鍕�(d貌ng)[3]銆傞€�3姊濋亱(y霉n)鍕�(d貌ng)閺堟焙瀹氫簡閬�(y霉n)鍕�(d貌ng)骞宠嚭(t谩i)鐨勯亱(y霉n)鍕�(d貌ng)鐗规€э紝閬�(y霉n)鍕�(d貌ng)骞宠嚭(t谩i)涓嶈兘绻炰换浣曡桓绶氭棆杞�(zhu菐n)锛屼絾鍙互鍦ㄧ洿瑙掑潗妯�(bi膩o)绌洪枔娌縓銆乊銆乑涓夊€�(g猫)鏂瑰悜骞崇Щ閬�(y霉n)鍕�(d貌ng)锛屽埌閬�(d谩)姗�(j墨)姊扮祼(ji茅)妲�(g貌u)閬�(y霉n)鍕�(d貌ng)绌洪枔鑼冨湇鍏�(n猫i)浠绘剰鍧愭(bi膩o)榛�(di菐n)锛屾湯绔棆杞�(zhu菐n)鍩�(zh铆)琛屽櫒瀹夎浜庡嫊(d貌ng)骞宠嚭(t谩i)涓嬶紝鍩�(zh铆)琛屽櫒鍙(sh铆)鐝�(xi脿n)360搴︽棆杞�(zhu菐n)銆傛墍浠ワ紝瑭茬祼(ji茅)妲�(g貌u)Delta骞惰伅(li谩n)姗�(j墨)鍣ㄤ汉鍏锋湁4鍊�(g猫)鑷敱搴�銆�

                             

                                                                     鍦�1 Delta姗�(j墨)鍣ㄤ汉纭欢绲�(ji茅)妲�(g貌u)瑷�(sh猫)瑷�(j矛)

纭欢椹�(q奴)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鏄敱PC姗�(j墨)閫ｆ帴鍩轰簬PCI绺界窔鐨勬暩(sh霉)瀛楀紡浼烘湇闆绘(j墨)閬�(y霉n)鍕�(d貌ng)鎺у埗鍗★紝鍐嶉€氶亷閬�(y霉n)鍕�(d貌ng)鎺у埗鍗￠€ｆ帴涓夊€�(g猫)浜ゆ祦浼烘湇棣仈(d谩)鐨勯﹨(q奴)鍕�(d貌ng)鍣�锛岄亱(y霉n)鍕�(d貌ng)鎺у埗鍗″皣鎺у埗鎸囦护杞�(zhu菐n)鎻涚偤鐩告噳(y墨ng)鐨勮剤娌栦俊铏�(h脿o)锛岀劧鍚庣敱椹�(q奴)鍕�(d貌ng)鍣ㄨ几鍑轰俊铏�(h脿o)鎺у埗涓夊€�(g猫)涓诲嫊(d貌ng)妗块Μ閬�(d谩)锛涙瘡鍊�(g猫)浼烘湇棣仈(d谩)鍚庨潰閮借鏈夊閲忓紡鏃嬭綁(zhu菐n)绶ㄧ⒓鍣紝瀵�(sh铆)鏅�(sh铆)娓�(c猫)鍑轰笁鍊�(g猫)棣仈(d谩)鐨勮綁(zhu菐n)鍕�(d貌ng)浣嶇疆锛屽偝鍥炴帶鍒剁郴绲�(t菕ng)锛屽舰鎴愰枆鐠�(hu谩n)銆傜浉姣斾簬閮ㄥ垎涓茶伅(li谩n)姗�(j墨)鍣ㄤ汉鐨勯枊鐠�(hu谩n)鎺у埗绯荤当(t菕ng)锛岃┎闁夌挵(hu谩n)鎺у埗绯荤当(t菕ng)閫氶亷鏃嬭綁(zhu菐n)绶ㄧ⒓鍣ㄦ脯(c猫)鍑洪Μ閬�(d谩)杞�(zhu菐n)鍕�(d貌ng)瑙掑害锛岄€氶亷PID鍙冩暩(sh霉)瑾�(di脿o)绡€(ji茅)锛屽彲浠ユ洿婧�(zh菙n)纰烘帶鍒跺悇杌哥殑杞�(zhu菐n)鍕�(d貌ng)瑙掑害锛屽(sh铆)鐝�(xi脿n)绮剧⒑瀹氫綅銆� 

3.2 Delta瑕栬璀�(sh铆)鍒ョ郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛)

瑕栬璀�(sh铆)鍒ョ郴绲�(t菕ng)浣跨敤闈炴帴瑙稿紡鍏夊(xu茅)鍌虫劅鍣ㄨ嚜鍕�(d貌ng)鐛插彇鍜岃В閲嬫煇鐪熷(sh铆)鍫�(ch菐ng)鏅殑鍦栧儚锛屼互閬�(d谩)鍒扮嵅鍙栦俊鎭拰鎺у埗姗�(j墨)鍣ㄥ強鐢熺敘(ch菐n)娴佺▼鐨勭洰鐨�銆傜郴绲�(t菕ng)棣栧厛鎶撳彇涓€骞呰唱(zh矛)閲忚純濂界殑鍦栧儚锛屾彁鍙栫墿楂旂殑鐗瑰緛锛岀劧鍚庡湪鍏烽珨鎳�(y墨ng)鐢ㄦ墍閲囬泦鐨勫湒鍍忎腑锛屾悳绱㈠叿鏈夌浉浼肩壒寰佺殑鍗€(q奴)鍩�锛岄€�(j矛n)琛屽湒鍍忛厤姣�锛屼互涓€鍊�(g猫)鐩镐技搴︾殑闁惧€间締鍒ゅ畾鐗╅珨鏄惁瀛樺湪銆傞亷绋嬩腑浣跨敤濡傚湒鍍忓垎鍓�(闁惧€煎垎鍓�锛岄倞绶ｅ垎鍓�)鍜岀壒寰佹彁鍙�(鐏板害鐗瑰緛锛屽崁(q奴)鍩熺壒寰�锛岃吉寤撶壒寰�)绛夋妧琛�(sh霉)[2]銆�

鍏跺叿楂斿煼(zh铆)琛岄亷绋嬬偤锛岀暥(d膩ng)鐗╁搧閫�(j矛n)鍏ユ敐鍍忔(j墨)瑕栭噹鏅�(sh铆)锛岀敱瑙哥櫦(f膩)淇¤櫉(h脿o)椹�(q奴)鍕�(d貌ng)鏀濆儚姗�(j墨)鍕�(d貌ng)浣滐紝鏀濆彇鐣�(d膩ng)鍓嶆祦姘寸窔鐨勫揩鐓у苟閫佸叆涓婁綅姗�(j墨)銆傛牴鎿�(j霉)鐣�(d膩ng)鍓嶇殑鍒嗘弨绛栫暐锛屼笂浣嶆(j墨)鍦ㄦ敐鍍忔(j墨)鎷嶆敐鐨勫揩鐓т腑鎹曟崏鎰熻垐瓒ｇ墿楂旂殑鐗瑰緛锛屽鏋滄壘鍒板叿鏈夊皪(du矛)鎳�(y墨ng)鐗瑰緛鐨勭墿楂�锛屽墖鏍规摎(j霉)鐩告噳(y墨ng)鐨勭畻娉曞皪(du矛)鍦栧儚閫�(j矛n)琛岃В纰硷紝纰哄畾鍑虹墿楂旂殑绌洪枔浣嶇疆鍧愭(bi膩o)锛岀劧鍚庡皣瑭茬墿楂旂殑浣嶇疆鍧愭(bi膩o)淇℃伅閫佸叆Delta绯荤当(t菕ng)鐨勬帶鍒跺櫒锛屾帶鍒跺櫒鏍规摎(j霉)鎺ユ敹鐨勭洰鐨勫潗妯�(bi膩o)鍦板潃锛屽舰鎴愪綅缃寚浠や唬纰�锛屽偝閫佸埌绯荤当(t菕ng)鍏�(n猫i)閮ㄧ殑閫熷害瑕�(gu墨)鍔冩ā绲�锛屾ā绲勬牴鎿�(j霉)鎺у埗瑕佹眰閫�(j矛n)琛岀洿绶氭垨闈炵窔鎬у揩閫熼亱(y霉n)鍕�(d貌ng)鐨勮矾寰戣(gu墨)鍔�锛岀劧鍚庡皣瑕�(gu墨)鍔冪殑璺緫鎸変腑鏂锋檪(sh铆)闁撲締纰哄畾姣忓€�(g猫)鍛ㄦ湡鐨刄銆乂銆乄涓夊€�(g猫)棣仈(d谩)鐨勮綁(zhu菐n)鍕�(d貌ng)閲�锛屽悇杞�(zhu菐n)鍕�(d貌ng)閲忛€佺郸鐩告噳(y墨ng)鐨勯Μ閬�(d谩)椹�(q奴)鍕�(d貌ng)鍣�锛岄﹨(q奴)鍕�(d貌ng)鎺у埗棣仈(d谩)杞�(zhu菐n)鍕�(d貌ng)锛岄Μ閬�(d谩)杞�(zhu菐n)鍕�(d貌ng)杌哥缍�(j墨ng)閬庢(j墨)妲�(g貌u)鍌冲嫊(d貌ng)锛屽彲浠ユ垚鍔熸帶鍒堕亱(y霉n)鍕�(d貌ng)骞宠嚭(t谩i)鐨勬湯绔埌閬�(d谩)鎸囧畾浣嶇疆鍚庢姄鍙栫墿楂�銆傝嚦姝わ紝涓€鍊�(g猫)瀹屾暣鐨勬帶鍒舵祦绋嬬祼(ji茅)鏉�銆�

3.3 Delta杌熶欢鎺у埗绋嬪簭瑷�(sh猫)瑷�(j矛)

杌熶欢鎺у埗绯荤当(t菕ng)鐨勭壒鑹叉槸妯＄祫鍖栬ō(sh猫)瑷�(j矛)锛屽悇鍊�(g猫)妯＄祫鍔熻兘鐣屽畾娓呮櫚锛屾渶澶х▼搴︽彁楂樹簡绯荤当(t菕ng)鍦ㄥ姛鑳戒笂鐨勭Щ妞嶆€у拰鍙摯(ku貌)灞曟€�銆備富瑕佹ā绲勫寘鎷�锛孎(xi脿n)ORM銆丮MI(Man Manchine Interface)銆丼YS(System)銆丏EC(Decoder)銆両NTP(Interpolator)銆丳CL(Position Control Loop)绛�銆侻MI妯＄祫灏�(du矛)鎳�(y墨ng)FORM涓殑姣忓€�(g猫)鍏冧欢DATA锛汼YS妯＄祫鐐烘帶鍒剁郴绲�(t菕ng)鐨勫ぇ鑵︼紝鏍规摎(j霉)MMI妯＄祫鍌抽€佺殑鐙€鎱�(t脿i)锛屽仛鍑哄皪(du矛)鎳�(y墨ng)鐨勬寚浠ょ郸DEC銆両NTP鍜孭CL锛汥EC妯＄祫鐐鸿В璀櫒锛屽皣NC Coder鐨勬寚浠ゅ仛鍒嗘瀽锛岃綁(zhu菐n)鎻涙垚INTP鐞嗚В鐨勬寚浠わ紱INTP妯＄祫鐐烘彃瑁�(b菙)鍣�锛屾牴鎿�(j霉)绯荤当(t菕ng)瑕佹眰鐨勪綅绉绘柟寮�锛岃▓(j矛)绠楀嚭姣忓€�(g猫)Interupt鐨勬檪(sh铆)闁撻爤閫佸嚭鐨勪綅缃粸(di菐n)锛汸CL妯＄祫鐐轰綅缃帶鍒跺洖璺�锛屾牴鎿�(j霉)INTP閫佷締鐨勪綅缃厤鍚堥Μ閬�(d谩)鐨勫弽楗嬪€硷紝鍋氫綅缃帶鍒�銆傚叾绋嬪簭鎺у埗娴佺▼濡傚湒2鎵€绀猴細

                                  

                                                                                       鍦�2 绋嬪簭鎺у埗娴佺▼

INTP妯＄祫鏄粺浠舵帶鍒剁郴绲�(t菕ng)鐨勬牳蹇冩ā绲�锛屾牴鎿�(j霉)绯荤当(t菕ng)瑕佹眰鐨勪綅绉绘柟寮忥紝閫�(j矛n)琛岃矾寰戣(gu墨)鍔�锛屽彲浠ラ€�(j矛n)琛岀窔鎬ц矾寰戞垨闈炵窔鎬у湏寮х瓑璺緫瑕�(gu墨)鍔�锛孖NTP瑷�(j矛)绠楀嚭姣忓€�(g猫)Interupt鐨勬檪(sh铆)闁撻爤閫佸嚭鐨勪綅缃粸(di菐n)锛岀劧鍚庡皣瑭插€煎鍏IFO鍫嗘＇锛孭CL閫氶亷闊挎噳(y墨ng)杌稿崱涓殑瀹氭檪(sh铆)鍣ㄤ腑鏂蜂締璁€鍙朏IFO涓殑浣嶇疆鎸囦护鍊硷紝鍏烽珨璺緫瑕�(gu墨)鍔冩祦绋嬪鍦�3鎵€绀猴細

                                  

                                                                           鍦�3 INTP妯＄祫涓矾寰戣(gu墨)鍔冩祦绋嬪湒

4銆丏elta姗�(j墨)鍣ㄤ汉鎳�(y墨ng)鐢ㄩ牁(l菒ng)鍩�

鍦ㄥ湅澶朌elta姗�(j墨)鍣ㄤ汉宸茬稉(j墨ng)鎴愬姛鐨勬噳(y墨ng)鐢ㄥ湪澶ц寖鍦嶇殑闋�(l菒ng)鍩熶腑锛岃€屼笖鍙栧緱浜嗕笉閷�(cu貌)鐨勬キ(y猫)绺俱€備緥濡�锛屽湪鐟炲＋锛屽阀鍏嬪姏鐢熺敘(ch菐n)鍟咰hocolat Frey锛岄€氶亷閲囩敤姣忓ぉ鍙互鎳�(y墨ng)灏�(du矛)40绋笉鍚屽寘瑁濊(gu墨)鏍肩殑鍏ㄦ柊楂橀€烡elta姗�(j墨)鍣ㄤ汉鍖呰鐢熺敘(ch菐n)绶氳€岀嵅寰楀法澶у埄鐩娿€傜敱浜嶥elta姗�(j墨)鍣ㄤ汉娓涘皯浜咰hocolat Frey鍏徃鐨勫伐浣滈噺锛屾渶涓昏鐨勬槸鏁村€�(g猫)鎿嶄綔绯荤当(t菕ng)绨�(ji菐n)渚挎槗琛岋紝鍙渶绨�(ji菐n)鍠殑淇敼涓€涓嬫搷浣滅郴绲�(t菕ng)灏卞彲浠ラ仼鎳�(y墨ng)鏂扮殑鍖呰瑕�(gu墨)鏍硷紝閫欑ó绨�(ji菐n)鏄撴€т娇寰楄┎鍏徃鍙互蹇€熻€屽緸瀹圭殑鎳�(y墨ng)灏�(du矛)甯傚牬(ch菐ng)鐨勬柊闇€姹�銆�

鐣�(d膩ng)鍒�锛岀暥(d膩ng)鍦ㄩ亱(y霉n)鍕�(d貌ng)骞宠嚭(t谩i)涓婅涓婇仼鐣�(d膩ng)?sh霉)鍝敀钘�?zh铆)琛屽櫒鍚�锛岀壒鍒ラ仼鐢ㄤ簬闆诲瓙鍏冨櫒浠剁殑蹇€熻閰嶆彃鎺�銆備絾鍦ㄨ紩宸ユキ(y猫)鐨勫寘瑁濓紝Pick-and-Place鎿嶄綔锛岄啱(y墨)瀛�(xu茅)鎵嬭(sh霉)绛夐牁(l菒ng)鍩�锛孌elta姗�(j墨)鍣ㄤ汉浠ュ叾闈堟椿鎬�銆佸揩閫熸惉閬�(y霉n)鑳藉姏鍜岀従(xi脿n)鍫�(ch菐ng)鐨勮嚜閬╂噳(y墨ng)鎬х嵅寰楁サ澶х殑鐧�(f膩)灞曞拰鎳�(y墨ng)鐢�銆傚唬娉涙噳(y墨ng)鐢ㄧ殑闋�(l菒ng)鍩熶富瑕佹湁锛�

1銆佹噳(y墨ng)鐢ㄤ簬椋熷搧銆佽棩鍝佸拰鍖栧鍝佺瓑鐨勭敓鐢�(ch菐n)绶氬揩閫熻鐩掕绠�锛�

2銆侀浕瀛愬厓浠跺拰澶櫧鑳介浕姹犳澘绛夌殑蹇€熻閰�銆�

Delta姗�(j墨)鍣ㄤ汉閫氬父鍙垏瑕栬绯荤当(t菕ng)涓€璧风敤浜庨珮閫熸嬀鍙�锛屽緸鑰岃兘纰哄畾鐢�(ch菐n)鍝佷綅缃紝骞惰繀閫熷皣鍏舵嬀鍙�銆備絾鐩墠鐐烘锛孌elta姗�(j墨)鍣ㄤ汉鍙兘鎷惧彇鐗╅珨銆佷娇鍏剁櫦(f膩)鐢熸棆杞�(zhu菐n)鍚庡埌閬�(d谩)闋�(y霉)瀹氫綅缃斁涓�锛岀劧鍚庢棆杞�(zhu菐n)鍥炴鍘熶綅銆傚鍦�4鎵€绀猴細

                                    

                                                                       鍦�4 Delta Robot楂橀€熸姄鍙栫墿楂�

鍙︿竴鍊�(g猫)鐢ㄩ€旀槸鐢ㄤ簬灏�(du矛)鍚勭ó鐡跺瓙閫�(j矛n)琛岃В鎿俱€傚皪(du矛)娲楃櫦(f膩)姘存垨娓呮綌鍔戝鏂欑摱閫�(j矛n)琛屾垚鍨嬫檪(sh铆)锛屽線寰€鍏跺€掑叆涓€鍊�(g猫)澶ф枡鏂椼€傝┎鐞嗗康灏辨槸瑕佹壘鍒颁竴鍊�(g猫)骞虫斁鐨勭摱瀛�锛屽皣鍏舵嬀璧�锛屾部鍋�(c猫)灏囧叾鏀剧疆鍦ㄥ偝閫佸付涓�锛岀劧鍚庨€�(j矛n)鍏ョ亴瑁濈敓鐢�(ch菐n)绶氫簡銆�

鍏朵粬鐢ㄩ€斿墖娑夊強鍒板京(f霉)闆滅祫浠�锛屼緥濡傛煇浜涢浕瀛愭秷璨�(f猫i)鍝�銆傞€欐檪(sh铆)锛屾(j墨)鍣ㄤ汉鍙兘闇€瑕侀厤鍌欑敤浜庨儴浠剁殑鎵樼洡锛岀劧鍚庣敤瑕栬绯荤当(t菕ng)鍜屽姏鍌虫劅鍣ㄥ湪鎵€鏈夎搴﹀皨鎵剧敘(ch菐n)鍝�锛岀劧鍚庨€�(j矛n)琛岀祫瑁�銆�

5銆佺祼(ji茅)鏉熻獮

Delta姗�(j墨)鍣ㄤ汉鏄苟鑱�(li谩n)姗�(j墨)鍣ㄤ汉鐨勪竴鍊�(g猫)鍏稿瀷浠ｈ〃锛屽湪涓嶅皯闋�(l菒ng)鍩熸湁娼涘湪鐨勭敤閫�锛屽緸鏈枃鐨勫垵姝ュ垎鏋愬彲瑕�锛孌elta姗�(j墨)妲�(g貌u)鍏锋湁楂樼簿搴﹀拰楂樺墰搴�锛屽煼(zh铆)琛屽櫒鏈鍏锋湁蹇€熸€у拰闈堟椿鎬�锛屾洿閲嶈鐨勬槸绯荤当(t菕ng)鍏锋湁杓冨挤(qi谩ng)鐨勬煍鎬цō(sh猫)瑷�(j矛)锛岀稉(j墨ng)绨�(ji菐n)鍠慨鏀瑰嵆鍙仼鎳�(y墨ng)涓嶅悓鐨勬祦姘寸窔浣滄キ(y猫)銆傜稖涓婃墍杩帮紝Delta姗�(j墨)鍣ㄤ汉浣滅偤姗�(j墨)鍣ㄤ汉琛屾キ(y猫)涓殑浣间郊鑰�锛屽叿鏈夊緢楂樼殑鐮旂┒鍍�(ji脿)鍊煎拰瑙ｆ焙涓湅瀵�(sh铆)闅涚殑鐝�(xi脿n)瀵�(sh铆)鍍�(ji脿)鍊�銆�

浣滆€呯啊(ji菐n)浠�

鍔夋捣娉紙1989-锛� 鐢� 鍦ㄨ畝纰╁＋鐮旂┒鐢燂紝涓昏鐮旂┒鏂瑰悜锛氬祵鍏ュ紡绯荤当(t菕ng)鍜屽伐妤�(y猫)鑷嫊(d貌ng)鍖�

鍙冭€冩枃鐛�(xi脿n)

[1] 鐣㈠嫕锛庡湅鍏�(n猫i)宸ユキ(y猫)姗�(j墨)鍣ㄤ汉鐧�(f膩)灞曠従(xi脿n)鐙€[J]锛屾(j墨)姊板伐绋嬪斧锛�2008,7锛�5-7锛夛紟

[2] 鍔夐吵鑷�锛屽璐婂嘲绛�. 楂橀€熸惉閬�(y霉n)姗�(j墨)鍣ㄤ汉鐢�(ch菐n)妤�(y猫)鎳�(y墨ng)鐢ㄥ強鐧�(f膩)灞昜J].杓曞伐姗�(j墨)姊�2012,4(2).

[3] 鑲栧崡宄扮瓑.宸ユキ(y猫)姗�(j墨)鍣ㄤ汉[M].鍖椾含:姗�(j墨)姊板伐妤�(y猫)鍑虹増绀�,2011.

[4] 钄¤嚜鑸堬紟姗�(j墨)鍣ㄤ汉瀛�(xu茅)[M]锛屽寳浜細娓呰彲澶у(xu茅)鍑虹増绀�锛�2009锛�

[5] 寮靛埄鏁�锛屾姹熷钩锛岃稒闆晱绛�. Delta姗�(j墨)姊版墜鍕�(d貌ng)鍔涘昂搴︾稖鍚圼J].姗�(j墨)姊板伐绋嬪(xu茅)鍫�(b脿o)锛�2010锛�46(3) 

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