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1、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 applic
2、ation 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
3、 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
4、 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 standa
5、rds. 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 ind
6、ustrial 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 autom
7、ation 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 opp
8、ortunities 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 r
9、esearch 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 ar
10、m 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 wel
11、ding, 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 第一章公
12、司法一、公司概述（一）基本内容1.公司的概念公司是指股东依照公司法的规定，以其认缴的出资额或认购的股份为限对公司承担责任，公司以其全部法人财产对公司债务承担责任的企业法人。2.公司的特征（1）公司具有法人资格：独立财产，独立责任，独立人格公司法人人格否认公司独立责任和股东有限责任的例外。（2）社团性：两个以上成员，组织体（3）营利性3.公司的分类（1）以公司股东的责任范围为标准分类，可将公司分为无限责任公司、两合公司、股份两合公司、股份有限公司和有限责任公司。（2）以股份转让方式为标准分类，可将公司分为封闭式公司与开放式公司。（3）以公司的信用基础为标准分类，可将公司分为人合公司与资合公司以及
13、人合兼资合公司。（4）以公司之间的关系为标准分类，可将公司分为本公司（总公司）与分公司、母公司与子公司。（5）以公司的国籍为标准分类，可将公司分为本国公司、外国公司和跨国公司。4.公司权利能力和行为能力（1）权利能力：起止时间；性质；目的范围（记载于公司章程并登记）。（2）行为能力：与权利能力具有一致性；通过公司的法人机关来形成和表示；对外由法定代表人或其授权的代表来实施。当事人超越经营范围订立合同，人民法院不因此认定合同无效。但违反国家限制经营、特许经营以及法律、行政法规禁止经营规定的除外。公司法定代表人，根据章程规定，由董事长、执行董事或者经理担任。法定代表人超越权限订立合同，属于表见代表
14、行为，除相对人知道或者应当知道以外，该代表行为有效。（3）转投资和对外担保公司可以向其他企业投资；但是，除法律另有规定外，不得成为对所投资企业的债务承担连带责任的出资人。公司向其他企业投资或者为他人提供担保，依照公司章程的规定，由董事会或者股东会、股东大会决议；公司章程对投资或者担保的总额及单项投资或者担保的数额有限额规定的，不得超过规定的限额。公司为公司股东或者实际控制人提供担保的，必须经股东会或者股东大会决议。该股东或者该实际控制人支配的股东，不得参加上述事项的表决。该项表决由出席会议的其他股东所持表决权的过半数通过。5.公司设立（1）公司设立是指公司设立人依照法定的条件和程序，为组建公司
15、并取得法人资格而必须采取和完成的法律行为。公司设立不同于公司成立，后者不是一种法律行为，而是设立人取得公司法人资格的一种事实状态或设立人设立公司行为的法律后果。（2）公司设立的方式：发起设立和募集设立发起设立是指由发起人认购公司应发行的全部股份而设立公司。募集设立是指由发起人认购公司应发行股份的一部分，其余股份向社会公开募集或者向特定对象募集而设立公司。（3）公司设立登记设立有限责任公司应由全体股东指定的代表或共同委托的代理人作为申请人；设立股份有限公司应由董事会作为申请人。公司营业执照签发日期为公司成立日期。公司经设立登记的法律效力就是使公司取得法人资格，进而取得从事经营活动的合法身份。（4）发起人为设立公司而签署公司章程、向公司认购出资或者股份并履行公司设立职责的人，应当认定为公司的发起人，包括有限责任公司设立时的股东。发起人责任：公司因故未成立，债权人有权请求全体或者部分发起人对设立公司行为所产生的费用和债务承担连带清偿责任；发起人因履行公司设立职责造成他人损害，公司成立后受害人有权请求公司承担侵权赔偿责任；公司未成立，受害人有权请求全体发起人承担连带赔偿责任；发起人为设立公司以自己名义对外签订合同，合同相对人请求该发起人承担合同责任的，人民法院应予支持。公司成立后对前款规定的合同予以确认，或者已经实际享有合同权
