操作焊接机械手进行工作，首先就要清楚其工作原理，这样才更有利于操作。
To operate welding manipulator, we must first understand its working principle, so that it is more conducive to operation.
焊接机械手的执行机构包括手部、手腕、手臂和立柱等部件，有的还增设行走机构。
The executing mechanism of welding manipulator includes parts such as hand, wrist, arm and column, and some additional walking mechanism.
焊接机械手的手部是用来抓持工件(或工具)的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。
The hand of a welding manipulator is used to hold the parts of the workpiece (or tool). It has a variety of structural forms, such as holding, holding and adsorbing, according to the shape, size, weight, material and job requirements of the object being grasped.
焊接机械手运动机构，使手部完成各种转动(摆动)、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。
Welding manipulator movement mechanism, make the hand complete various rotation (swing), movement or compound movement to realize the prescribed action, change the POSTTTION and POSTTTION of the object being grasped.
焊接机械手运动机构的升降、伸缩、旋转等独立运动方式，称为焊接机械手的自由度 。
The independent movement mode of lifting mechanism, telescopic and rotating mechanism of welding manipulator is called the degree of freedom of welding manipulator.
为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是焊接机械手设计的关键参数。
In order to grab objects in any POSTTTION and orientation in space, there must be 6 degrees of freedom. Degree of freedom is the key parameter in the design of welding manipulator.
自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有2～3个自由度。
The more freedom, the greater the flexibility of the manipulator, the wider the versatility and the more complex the structure. The general special manipulator has 2~3 degrees of freedom.
焊接机械手的控制系统是通过对机械手每个自由度的电机的控制，来完成特定动作。
The control system of welding manipulator is to accomplish specific actions by controlling the motor of each degree of freedom of the manipulator.
同时接收传感器反馈的信息，形成稳定的闭环控制。控制系统的核心通常是由单片机或dsp等微控制芯片构成，通过对其编程实现所要功能。

At the same time, the sensor feedback information is received to form a stable closed loop control. The core of the control system is usually composed of microcontroller or DSP and other micro control chip, through its programming to achieve the desired function.

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