文档介绍：????????????????????????????????ь??????θ?????????????????ж???????????????θь??????????????????????????????????у???θ?????亼??????????????????ㄖ??????????????ぁ??俌?θ??????????????????θ??θ???θ???????????????????θ?ㄖ???????????????????ㄖ????????????ф????????????????????????????????:???; ????; ???χAbstractMachinery industry is to provide equipment for the national economyand people's life and durable consumer goods industry. With the developmentof world economy, scale and technical level of machinery industry e a measure of an important symbol of a nation's , the world all countries to develop machinery industry as a strategicpriority to develop national the constant change of the industrial revolution, in variousindustrial fields in the position of the manipulator is ing more and moreheavy. This article mainly describes the design and calculation process of , this paper introduces the development and use of the manipulatorof the manipulator, composition, classification and so on, the degrees offreedom and the style of the manipulator overall coordinates. At the sametime, the article gives the main performance specifications of the manipulatorparameters. The article introduces the design of the manipulator principle and designmethod. Comprehensive and detailed discussed the structure design of ponent of : Manipulator; Hydraulic power transmission; ylin-de.???жㄖ??.............................................1??ㄖ??????.....................................????????......................................???????........................................??????????????......................????????..................................??????僂?..................................?????????????........................???????ぁ..................................????????..................................???????????............................9?пㄖр????........................