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为了确保喷浆机器人纵向进给装置在运动过程中自动维持平衡，采用了平衡油缸联动机构。并对此进行了优化设计，优化结果能满足设计要求。
In order to ensure that the vertical spraying device of the spray robot automatically balances during the movement, a balance cylinder linkage mechanism is adopted. The optimal design of the system is carried out and the result of the optimization can meet the design requirements.