书籍和课本中关于关节机械手（也常称为机器人手臂）及码垛机的内容，通常会涵盖以下几个方面：

1. 基本原理与结构

：介绍关节机械手的基本组成，包括底座、臂部、腕部和末端执行器等部分。关节机械手通过一系列可旋转的关节（如旋转关节、俯仰关节、偏转关节等）实现空间中的自由度运动。码垛机作为工业应用中的一个分支，特别强调其在搬运、堆叠箱子或托盘等重物时的设计特点。

2. 运动学与动力学

：这部分会讲解如何通过数学模型描述机械手在空间中的位置和姿态（运动学），以及分析作用力和力矩如何影响其运动（动力学）。这对于理解和设计高效的码垛过程至关重要。

3. 控制系统

：介绍控制关节机械手运动的硬件和软件系统，包括传感器（如位置传感器、力传感器）、控制器（如PLC、PC-based控制器）以及编程方法（如点位控制、连续路径控制）。

4. 编程技术

：讲解如何为关节机械手编写任务程序，包括使用示教编程（TP，Teach Pendant操作）、离线编程软件以及高级编程语言（如Python、Java）进行复杂的逻辑控制和路径规划。

5. 应用案例

：展示关节机械手在不同行业码垛应用中的实例，如食品饮料、制药、物流仓库等，包括自动化生产线上的物料搬运、包装、码垛和拆垛过程。

6. 安全规范

：强调在设计和使用关节机械手码垛机时需遵循的安全标准和措施，确保人员安全和生产效率。

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.