1銆佸紩瑷€

Delta骞惰伅(li谩n)姗熷櫒浜哄湪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�锛屾槸鐢盧.clavel鎻愬嚭鐨勶紝鍥犲叾鍩哄骇骞宠嚭鍜岄亱鍕曞钩鑷洪兘鍛堢従(xi脿n)涓夎褰㈠舰鐙€鑰屽緱鍚�銆傜暥(d膩ng)鏅傚伐妤�(y猫)鐢熺敘(ch菐n)涓揩鍒囬渶瑕佷竴绋鍣ㄤ汉锛岄€欑ó姗熷櫒浜烘槸涓€绋皬鍨嬪寲鐨勬妲�(g貌u)锛岀敤浜庡鐝�(xi脿n)灏嶈紩灏忕墿浠剁殑蹇€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姗熷櫒浜烘噳(y墨ng)閬嬭€岀敓[1]銆傜洿鍒板湪1999骞达紝ABB 闁嬪鎺ㄥ唬鑷繁鐨刣elta姗熷櫒浜�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)姗熷櫒浜�锛孧-3iA銆傛湰鏂囧熀浜庡椹楀鐛ㄧ珛鐮旂櫦(f膩)涓斿凡鍒濇瀹屾垚鐨凞elta姗熷櫒浜烘暣楂旀灦妲�(g貌u)鍜屽姛鑳�锛屼富瑕佸緸鎺у埗鐨勮搴︽帰瑷嶥elta姗熷櫒浜虹‖浠堕﹨(q奴)鍕曟帶鍒剁郴绲�(t菕ng)鐨勬惌寤猴紝瑕栬璀樺垾绯荤当(t菕ng)鐨勮ō(sh猫)瑷堝拰杌熶欢鎺у埗绯荤当(t菕ng)鐨勬柟妗�銆傛鏂规缍�(j墨ng)閬庡楂旀惌寤哄拰鎺у埗閬嬭瀵﹂璀夋槑Delta姗熷櫒浜哄苟鑱�(li谩n)姗熸(g貌u)鍓涙€уソ锛岃鍕曞揩閫熷拰瀹氫綅绮惧害楂樼瓑鐗归粸锛屽皪浜庡伐妤�(y猫)鐝�(xi脿n)鍫村苟鑱�(li谩n)楂橀€熸惉閬嬫鍣ㄤ汉鐨勭爺鐧�(f膩)鍏锋湁涓€瀹氱殑鍙冭€冨児鍊�銆�

2銆佽儗鏅粙绱�

宸ユキ(y猫)姗熷櫒浜烘槸涓€绋▼搴忓彲绶ㄧ▼锛屽苟涓斿叿鏈夌崹绔嬫帶鍒剁郴绲�(t菕ng)锛屾姄鏀惧拰鎿嶇副宸ュ叿鐨勮嚜鍕曞寲姗熸瑁濈疆锛屾槸鍏稿瀷鐨勬闆讳竴楂斿寲楂樼鎶€鐢�(ch菐n)鍝併€備竴鑸締璎�锛屾牴鎿�(j霉)绲�(ji茅)妲�(g貌u)褰㈠紡涓嶅悓姗熷櫒浜哄彲鍒嗙偤涓茶伅(li谩n)姗熷櫒浜哄拰骞惰伅(li谩n)姗熷櫒浜哄叐澶ч銆備覆鑱�(li谩n)姗熷櫒浜烘槸鐩墠鏈€甯歌鐨勫伐妤�(y猫)姗熷櫒浜�锛屼竴鑸殑涓茶伅(li谩n)姗熷櫒浜哄線寰€鏈変竴鍊嬫摤浜哄寲鐨勬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帴锛屽舰鎴愪竴鍊嬭偐銆佽倶鎴栨墜鑵�銆傝┎椤炲瀷姗熷櫒浜虹殑鍎�(y艒u)鍕㈡槸浣滅敤绌洪枔杓冨ぇ锛屽叾缂洪粸鏄竴鍊嬮枊鏀剧殑閬嬪嫊绲�(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杓冧綆锛岄張鎺ョ殑閷鐨勭⿳绱拰鏀惧ぇ绛夈€�

骞惰伅(li谩n)姗熷櫒浜烘槸涓€椤炲叏鏂扮殑姗熷櫒浜�锛屽畠鍏锋湁鍓涘害澶�銆佹壙杓夎兘鍔涘挤銆佺簿搴﹂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�銆傚湪宸ユキ(y猫)涓婂苟鑱�(li谩n)姗熷櫒浜哄彲浠ヤ綔鐐虹簿瀵嗘搷浣滅殑寰嫊鍣ㄦ垨澶т欢鐨勮閰嶆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)姗熷櫒浜哄湪鐞嗚珫涓婂凡缍�(j墨ng)姣旇純鎴愮啛锛屼絾鏄ぇ閮ㄥ垎姗熷櫒浜洪倓鏄湪澶у(xu茅)鐨勫椹楀锛岃蛋閫插伐妤�(y猫)鐢熺敘(ch菐n)鐝�(xi脿n)鍫寸殑骞惰伅(li谩n)姗熷櫒浜洪倓姣旇純灏�銆傞毃钁楁垜鍦嬪厛閫插埗閫犳妧琛�(sh霉)鐨勭櫦(f膩)灞曪紝宸ユキ(y猫)姗熷櫒浜哄凡寰炵暥(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閰嶃€佸埗閫犲拰鍔犲伐鐨勫劒(y艒u)璩�(zh矛)閬告搰銆�

3. Delta姗熷櫒浜虹‖浠跺拰杌熶欢绯荤当(t菕ng)瑷�(sh猫)瑷�

瀹屾暣Delta姗熷櫒浜虹殑绯荤当(t菕ng)涓昏鍖呮嫭纭欢姗熸(g貌u)瑷�(sh猫)瑷�锛岄﹨(q奴)鍕曟帶鍒剁郴绲�(t菕ng)锛岃瑕哄湒璀樺垾绯荤当(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姗熷櫒浜虹附楂旂祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷�锛岀‖浠堕﹨(q奴)鍕曟帶鍒剁郴绲�(t菕ng)鎼缓

Delta楂橀€熷苟鑱�(li谩n)鎼亱姗熷櫒浜哄鍦�1鎵€绀�锛屽叿鏈�4鍊嬭嚜鐢卞害锛屼富瑕佺敱闈滃钩鑷�銆佸嫊骞宠嚭銆�3鏍逛富鍕曟】銆�3绲勫钩琛屽洓閭婂舰寰炲嫊鏀張鍜屽嫊骞宠嚭鏈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�锛岄潨骞宠嚭鐨�3绲勯﹨(q奴)鍕曞柈鍏冮€氶亷3姊濈浉鍚岀殑閬嬪嫊閺堝垎鍒ヨ垏閬嬪嫊骞宠嚭鐨�3姊濋倞閴告帴銆傛瘡姊濋亱鍕曢張涓湁1鍊嬬敱4鍊嬭檸鍏嬮壐鑸囨】浠剁祫鎴愮殑骞宠鍥涢倞褰㈤枆鐠�(hu谩n)锛屾闁夌挵(hu谩n)鍐嶈垏1鍊嬪付杞�(zhu菐n)鍕曢棞(gu膩n)绡€(ji茅)鐨勯﹨(q奴)鍕曡噦鐩镐覆鑱�(li谩n)锛岄﹨(q奴)鍕曡噦鐨勪竴绔浐瀹氬湪闈滃钩鑷轰笂锛屽湪闆诲嫊姗熺殑椹�(q奴)鍕曚笅鍋氫竴瀹氳搴︾殑鎿哄嫊锛岀稉(j墨ng)閬庢姊板偝鍕曟帶鍒跺嫊骞宠嚭鐨勯仩鍕昜3]銆傞€�3姊濋亱鍕曢張姹哄畾浜嗛亱鍕曞钩鑷虹殑閬嬪嫊鐗规€э紝閬嬪嫊骞宠嚭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€嬫柟鍚戝钩绉婚亱鍕�锛屽埌閬旀姊扮祼(ji茅)妲�(g貌u)閬嬪嫊绌洪枔鑼冨湇鍏�(n猫i)浠绘剰鍧愭(bi膩o)榛�锛屾湯绔棆杞�(zhu菐n)鍩�(zh铆)琛屽櫒瀹夎浜庡嫊骞宠嚭涓�锛屽煼(zh铆)琛屽櫒鍙鐝�(xi脿n)360搴︽棆杞�(zhu菐n)銆傛墍浠�锛岃┎绲�(ji茅)妲�(g貌u)Delta骞惰伅(li谩n)姗熷櫒浜哄叿鏈�4鍊嬭嚜鐢卞害銆�

                             

                                                                     鍦�1 Delta姗熷櫒浜虹‖浠剁祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷�

纭欢椹�(q奴)鍕曟帶鍒剁郴绲�(t菕ng)鏄敱PC姗熼€ｆ帴鍩轰簬PCI绺界窔鐨勬暩(sh霉)瀛楀紡浼烘湇闆绘閬嬪嫊鎺у埗鍗�锛屽啀閫氶亷閬嬪嫊鎺у埗鍗￠€ｆ帴涓夊€嬩氦娴佷己鏈嶉Μ閬旂殑椹�(q奴)鍕曞櫒锛岄亱鍕曟帶鍒跺崱灏囨帶鍒舵寚浠よ綁(zhu菐n)鎻涚偤鐩告噳(y墨ng)鐨勮剤娌栦俊铏�锛岀劧鍚庣敱椹�(q奴)鍕曞櫒杓稿嚭淇¤櫉鎺у埗涓夊€嬩富鍕曟】棣仈锛涙瘡鍊嬩己鏈嶉Μ閬斿悗闈㈤兘瑁濇湁澧為噺寮忔棆杞�(zhu菐n)绶ㄧ⒓鍣�锛屽鏅傛脯鍑轰笁鍊嬮Μ閬旂殑杞�(zhu菐n)鍕曚綅缃紝鍌冲洖鎺у埗绯荤当(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)姗熷櫒浜虹殑闁嬬挵(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脯鍑洪Μ閬旇綁(zhu菐n)鍕曡搴�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)鍕曡搴�锛屽鐝�(xi脿n)绮剧⒑瀹氫綅銆� 

3.2 Delta瑕栬璀樺垾绯荤当(t菕ng)瑷�(sh猫)瑷�

瑕栬璀樺垾绯荤当(t菕ng)浣跨敤闈炴帴瑙稿紡鍏夊(xu茅)鍌虫劅鍣ㄨ嚜鍕曠嵅鍙栧拰瑙ｉ噵鏌愮湡瀵﹀牬鏅殑鍦栧儚锛屼互閬斿埌鐛插彇淇℃伅鍜屾帶鍒舵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)鍩燂紝閫茶鍦栧儚閰嶆瘮锛屼互涓€鍊嬬浉浼煎害鐨勯柧鍊间締鍒ゅ畾鐗╅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╁搧閫插叆鏀濆儚姗熻閲庢檪锛岀敱瑙哥櫦(f膩)淇¤櫉椹�(q奴)鍕曟敐鍍忔鍕曚綔锛屾敐鍙栫暥(d膩ng)鍓嶆祦姘寸窔鐨勫揩鐓у苟閫佸叆涓婁綅姗�銆傛牴鎿�(j霉)鐣�(d膩ng)鍓嶇殑鍒嗘弨绛栫暐锛屼笂浣嶆鍦ㄦ敐鍍忔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)鐨勭畻娉曞皪鍦栧儚閫茶瑙ｇ⒓锛岀⒑瀹氬嚭鐗╅珨鐨勭┖闁撲綅缃潗妯�(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寚浠や唬纰硷紝鍌抽€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埗瑕佹眰閫茶鐩寸窔鎴栭潪绶氭€у揩閫熼亱鍕曠殑璺緫瑕�(gu墨)鍔�锛岀劧鍚庡皣瑕�(gu墨)鍔冪殑璺緫鎸変腑鏂锋檪闁撲締纰哄畾姣忓€嬪懆鏈熺殑U銆乂銆乄涓夊€嬮Μ閬旂殑杞�(zhu菐n)鍕曢噺锛屽悇杞�(zhu菐n)鍕曢噺閫佺郸鐩告噳(y墨ng)鐨勯Μ閬旈﹨(q奴)鍕曞櫒锛岄﹨(q奴)鍕曟帶鍒堕Μ閬旇綁(zhu菐n)鍕曪紝棣仈杞�(zhu菐n)鍕曡桓绔稉(j墨ng)閬庢妲�(g貌u)鍌冲嫊锛屽彲浠ユ垚鍔熸帶鍒堕亱鍕曞钩鑷虹殑鏈鍒伴仈鎸囧畾浣嶇疆鍚庢姄鍙栫墿楂斻€傝嚦姝�锛屼竴鍊嬪畬鏁寸殑鎺у埗娴佺▼绲�(ji茅)鏉熴€�

3.3 Delta杌熶欢鎺у埗绋嬪簭瑷�(sh猫)瑷�

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�锛屽悇鍊嬫ā绲勫姛鑳界晫瀹氭竻鏅�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摯灞曟€�銆備富瑕佹ā绲勫寘鎷紝F(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＄祫灏嶆噳(y墨ng)FORM涓殑姣忓€嬪厓浠禗ATA锛汼YS妯＄祫鐐烘帶鍒剁郴绲�(t菕ng)鐨勫ぇ鑵�锛屾牴鎿�(j霉)MMI妯＄祫鍌抽€佺殑鐙€鎱�(t脿i)锛屽仛鍑哄皪鎳�(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�锛汭NTP妯＄祫鐐烘彃瑁滃櫒锛屾牴鎿�(j霉)绯荤当(t菕ng)瑕佹眰鐨勪綅绉绘柟寮忥紝瑷堢畻鍑烘瘡鍊婭nterupt鐨勬檪闁撻爤閫佸嚭鐨勪綅缃粸锛汸CL妯＄祫鐐轰綅缃帶鍒跺洖璺紝鏍规摎(j霉)INTP閫佷締鐨勪綅缃厤鍚堥Μ閬旂殑鍙嶉鍊�锛屽仛浣嶇疆鎺у埗銆傚叾绋嬪簭鎺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�锛岄€茶璺緫瑕�(gu墨)鍔冿紝鍙互閫茶绶氭€ц矾寰戞垨闈炵窔鎬у湏寮х瓑璺緫瑕�(gu墨)鍔�锛孖NTP瑷堢畻鍑烘瘡鍊婭nterupt鐨勬檪闁撻爤閫佸嚭鐨勪綅缃粸锛岀劧鍚庡皣瑭插€煎鍏IFO鍫嗘＇锛孭CL閫氶亷闊挎噳(y墨ng)杌稿崱涓殑瀹氭檪鍣ㄤ腑鏂蜂締璁€鍙朏IFO涓殑浣嶇疆鎸囦护鍊�锛屽叿楂旇矾寰戣(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姗熷櫒浜烘噳(y墨ng)鐢ㄩ牁(l菒ng)鍩�

鍦ㄥ湅澶朌elta姗熷櫒浜哄凡缍�(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殑妤�(y猫)绺�銆備緥濡傦紝鍦ㄧ憺澹�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�40绋笉鍚屽寘瑁濊(gu墨)鏍肩殑鍏ㄦ柊楂橀€烡elta姗熷櫒浜哄寘瑁濈敓鐢�(ch菐n)绶氳€岀嵅寰楀法澶у埄鐩�銆傜敱浜嶥elta姗熷櫒浜烘笡灏戜簡Chocolat Frey鍏徃鐨勫伐浣滈噺锛屾渶涓昏鐨勬槸鏁村€嬫搷浣滅郴绲�(t菕ng)绨′究鏄撹锛屽彧闇€绨″柈鐨勪慨鏀逛竴涓嬫搷浣滅郴绲�(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℃槗鎬т娇寰楄┎鍏徃鍙互蹇€熻€屽緸瀹圭殑鎳�(y墨ng)灏嶅競鍫寸殑鏂伴渶姹�銆�

鐣�(d膩ng)鍒濓紝鐣�(d膩ng)鍦ㄩ亱鍕曞钩鑷轰笂瑁濅笂閬╃暥(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姗熷櫒浜轰互鍏堕潏娲绘€с€佸揩閫熸惉閬嬭兘鍔涘拰鐝�(xi脿n)鍫寸殑鑷仼鎳�(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绠憋紱

2銆侀浕瀛愬厓浠跺拰澶櫧鑳介浕姹犳澘绛夌殑蹇€熻閰嶃€�

Delta姗熷櫒浜洪€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�锛屽苟杩呴€熷皣鍏舵嬀鍙�銆備絾鐩墠鐐烘锛孌elta姗熷櫒浜哄彧鑳芥嬀鍙栫墿楂�銆佷娇鍏剁櫦(f膩)鐢熸棆杞�(zhu菐n)鍚庡埌閬旈爯(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︿竴鍊嬬敤閫旀槸鐢ㄤ簬灏嶅悇绋摱瀛愰€茶瑙ｆ摼銆傚皪娲楃櫦(f膩)姘存垨娓呮綌鍔戝鏂欑摱閫茶鎴愬瀷鏅�锛屽線寰€鍏跺€掑叆涓€鍊嬪ぇ鏂欐枟銆傝┎鐞嗗康灏辨槸瑕佹壘鍒颁竴鍊嬪钩鏀剧殑鐡跺瓙锛屽皣鍏舵嬀璧�锛屾部鍋�(c猫)灏囧叾鏀剧疆鍦ㄥ偝閫佸付涓�锛岀劧鍚庨€插叆鐏岃鐢熺敘(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诲搧銆傞€欐檪锛屾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)鍝侊紝鐒跺悗閫茶绲勮銆�

5銆佺祼(ji茅)鏉熻獮

Delta姗熷櫒浜烘槸骞惰伅(li谩n)姗熷櫒浜虹殑涓€鍊嬪吀鍨嬩唬琛�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姗熸(g貌u)鍏锋湁楂樼簿搴﹀拰楂樺墰搴︼紝鍩�(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)鍏锋湁杓冨挤鐨勬煍鎬цō(sh猫)瑷�锛岀稉(j墨ng)绨″柈淇敼鍗冲彲閬╂噳(y墨ng)涓嶅悓鐨勬祦姘寸窔浣滄キ(y猫)銆傜稖涓婃墍杩�锛孌elta姗熷櫒浜轰綔鐐烘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┒鍍瑰€煎拰瑙ｆ焙涓湅瀵﹂殯鐨勭従(xi脿n)瀵﹀児鍊�銆�

浣滆€呯啊浠�

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嫊鍖�

鍙冭€冩枃鐛�

[1] 鐣㈠嫕锛庡湅鍏�(n猫i)宸ユキ(y猫)姗熷櫒浜虹櫦(f膩)灞曠従(xi脿n)鐙€[J]锛屾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€熸惉閬嬫鍣ㄤ汉鐢�(ch菐n)妤�(y猫)鎳�(y墨ng)鐢ㄥ強鐧�(f膩)灞昜J].杓曞伐姗熸2012,4(2).

[3] 鑲栧崡宄扮瓑.宸ユキ(y猫)姗熷櫒浜篬M].鍖椾含:姗熸宸ユキ(y猫)鍑虹増绀�,2011.

[4] 钄¤嚜鑸堬紟姗熷櫒浜哄(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姗熸鎵嬪嫊鍔涘昂搴︾稖鍚圼J].姗熸宸ョ▼瀛�(xu茅)鍫憋紝2010锛�46(3) 

鎴戠殑鍦板潃锛氬北鏉辩渷婵熷崡甯傜稉(j墨ng)鍗佽矾17923铏熷北鏉卞ぇ瀛�(xu茅) 鎺у埗瀛�(xu茅)闄�11绱氱ⅸ澹�1鐝� 闆昏┍锛�15275199629  閮电法锛�250061

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