国外水下作业机械手(以下简称机械手)的研究始于50年代。70年代以来,国外许多公司如美国的Schilling公司,Western Space and Marine有限公司以及英国的Slingsby有限公司等,相继研制成功了多种先进的机械手及系列产品,并已投入批量生产,使机械手的研究和生产达到了较高的水平。我国水下作业机械手的研制工作始于70年代,与国外相比还存在着一段差距。本文从水下机械手的结构、液压驱动及控制 Foreign underwater manipulator (hereinafter referred to as manipulator) research began in the 50’s. Since the 1970s, many foreign companies such as Schilling Company in the United States, Western Space and Marine Co., Ltd. and Slingsby Co., Ltd. in the United Kingdom have successfully developed a number of advanced robots and series of products, and have put into mass production to make robotic research And production reached a higher level. The research and development of China’s underwater operation manipulator began in the 1970s, and there is still a gap compared with that of other countries. This article from the underwater robot structure, hydraulic drive and control