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0引言机械制造自动化已有几十年的历史，从30年代至50年代，由自动机床、组合机床或专用机床组成的刚性生产线是大批大量生产方式的产物。但对日前占整个机械制造业75％一85％的中小批量生产却无法有效的应用，特别是近年来，制造业面临着原材料、能源和劳动力等制造成本的不断
0 Introduction Machinery manufacturing automation has decades of history. From the 1930s to the 1950s, rigid production lines consisting of automatic, combined or special machine tools were the products of mass production. However, small and medium-sized batch production, which accounts for 75% to 85% of the entire machinery manufacturing industry, can not be effectively applied. Especially in recent years, the manufacturing industry is constantly facing the manufacturing costs of raw materials, energy and labor