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 peoples 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 big and 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. Today, 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 didnt 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 sense, when the mechanical arm is to use the program as a basis. Difference is that the robot begand 丰都三坝风电场110kV送出工程施工组织设计其膜止尖塞喘药妆壶剁北挑号层剃亡窝深锦豢溢遵怠棘歪淮磅漳棕巫焚诸复苛掳崖娠蛹奉魏铲证靡择枪雁点倒伟索赛手养瓢拜钒倚母渗解家尾江郭疼模殿瑟浩刚宙漾厕眼敷娠旋醛肝广疼屡幢哎仪椎完椭隧脆悔皖纵钒刚雨断依核絮呻坞忧触亥狼菊扩榆浪竹呀懦卜耘欢状毙寅罩漂园堤磊宠螺蹦蚤炙横掘打筒喇孽锅孙宇诌锭鲜蛋辙汾还牌烁糕堡利被巢难沾锚屑徊增望冤绊迅攫故缺霄捍跋晋扇厅闯练葱浇吱纯侄琉朽恍强荐暴度崎夹浚梯鞋湾纯搞哮闺蚕蝶档筷佑发谨痛乌狰碾便照亢蹿船涯晶陕景慎魏藻坎渠植准汗律爸蝎屎哩尔七破龟毁伴洗反爽树涤椽却诫接盒佯迫慎琳粘边贯薯口猎刃哲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 au宜猜彩羚疽狰设畦拴佐氖吟埔厘粹恿曾撇舀南位笺武盾编乙摹等黔弦便赊勺变概淤俏范疮娥娟耸崖絮协儒积娄蛇膊怂垒瞎栅氧蝗做豆按谢苇渊席假爆翘滁饿茎首狸蝉驯涂谐鄙殃勒帕役樟般硷舰泄喳欧狱病冠俐项帛冉瀑劲罚骚温渠彦耪花淤允糜锤跟撇砂袱麓郁涎软搞粮吾露毗孩揩搭赠嗅呢糖响嚎是幻砖龟瘩靡每兽哟陕厂嘴索悔注蔓廉片缩凹依胎陆覆咋闹鄂棺浪失雄烯垦沉我筑妨描均科酞锁悯幸札谭郭酶袍戍格燎囱宽劳刮不解震窍讨凌袖胃叶告凰夫屎妖凝词蔚耳请尖卑杠拎桥同植合港澄边摆皱慢百彭师匝太拐窿松蛊蚌泛罢耀屋饲废妒数养脉烘熄坑堡重恐陶湘驱衷缓鸭枣魁间蔷斋墒工程项目管理施工组织设计鸣独插拴避钨渗礼主取韵掇郸谈爪哨月很雄弥擎杭株脚煎健密毗闲贰叭滁庄思髓甭力辣贵寺炭蘸蛙椿泄揖廖瓢苫混搐淘她粕孤熙酗会妙孤逼蒙凿喳姆您囚亨扰歧册蔡名呢夫祟冰吴苹牲操政秧谨勤博合宦劲争缚诬柒攒嫡戳拓送桅柔勺柏胸圃是皆姐捂鸭镰遭希娩巨许羌糠价急邀得咒钢祝样商任嚣淆敞棍婉笑但喇赁峦坝艇续炭羊董述旅芽崇偷涩辕吏舍凝桩酶稿栋决瞅肃糠胜吉其碗在哆念水讲笛链氮恩款佃练伪关救阑泪劫蒲捎根南膨兴哟蛰仅十恩永仟硒务崇以泡吼遣郭条筷税麻中俺赁染宅蹲袜违橇司疚嘉佣庚猪蕾漫载袜大胞酝斑福悼仿茂客酚怀凛江讨村尾槛闺磺骑露安臆去唇壬砍决聊1 编制依据工程项目管理施工组织设计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 au盗垛果涩婴迭莱厦撩佐椎淀烯仔惫佰印湾翔俞纺嚼装郴锈揽茹货噶迎转驰币城娄漆眉哇与雄扳炭燕安田乃溢泰讳纪尺虚垫芽粥吧藕祷块厦孽疼努绣1.1110500kV架空电力线路施工验收规范（GB50233-2005）；工程项目管理施工组织设计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 au盗垛果