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本文介绍了一种用于射孔弹上下料的气动机械手的结构及定位。机械手的模块式结构可适应不同类型的射孔弹，手部的被动柔顺性可降低对机械手插入位姿精度的要求。文中对机械手的作业机理进行了初步分析
This article describes the structure and positioning of a pneumatic manipulator for loading and unloading perforating projectiles. The modular structure of the manipulator can adapt to different types of perforating projectiles, and the passive compliance of the hand can reduce the requirement on the accuracy of the posture of the manipulator. In this paper, the operating mechanism of manipulator is analyzed preliminarily