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本文介绍了具有柔顺功能的ＤＳＲＶ对地接机械手、在机械手对接作业中，柔顺功能可以保护机械手，缓冲惯性力，完成对接目标。本文从机械装置和液压伺服原理两方面讨论了柔顺功能的实现。
In this paper, DSRV ground-mounted manipulator with compliance function is introduced. In the manipulator docking operation, the flexible function can protect the manipulator, buffer the inertial force and complete the docking target. This paper discusses the realization of compliance function from two aspects of mechanical device and hydraulic servo principle.