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本文介绍了一种水平关节式搬运机器人的机械结构设计过程，一种双支点单自由度手爪的设计也进行了详细的介绍，最后给出了具体的结构设计图。
In this paper, the mechanical structure design process of a horizontal articulated handling robot is introduced. The design of a double-DOF single-degree-of-freedom gripper is also introduced in detail. Finally, the specific structural design is given.