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書籍和課本中關于關節機械手（也常稱為機器人手臂）及碼垛機的內容，通常會涵蓋以下幾個方面：

1. 基本原理與結構

：介紹關節機械手的基本組成，包括底座、臂部、腕部和末端執行器等部分。關節機械手通過一系列可旋轉的關節（如旋轉關節、俯仰關節、偏轉關節等）實現空間中的自由度運動。碼垛機作為工業應用中的一個分支，特別強調其在搬運、堆疊箱子或托盤等重物時的設計特點。

2. 運動學與動力學

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

3. 控制系統

：介紹控制關節機械手運動的硬件和軟件系統，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、連續路徑控制）。

4. 編程技術

：講解如何為關節機械手編寫任務程序，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）進行復雜的邏輯控制和路徑規劃。

5. 應用案例

：展示關節機械手在不同行業碼垛應用中的實例，如食品飲料、制藥、物流倉庫等，包括自動化生產線上的物料搬運、包裝、碼垛和拆垛過程。

6. 安全規范

：強調在設計和使用關節機械手碼垛機時需遵循的安全標準和措施，確保人員安全和生產效率。

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.