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本文介绍了工作在封闭、狭窄、多障碍环境中的１５５ＨＰ２装填机器人操作机的总体结构和工作原理，着重阐述了整机设计中的关键问题以及其特殊型式的自锁手的研制。
This article describes the overall structure and working principle of the 155HP-2 robot manipulator operating in a closed, narrow and multi-obstacle environment. The key issues in the whole machine design and the development of a special type of self-locking manipulator are described.