我们选择了一种从结构方面具有易弯曲、重量轻等优点的机械手作空间机械手。近年来,这种弹性机械手的研究工作非常热门。可其控制对象几乎都是限定在平面内仅1个或2个关节的物体,和实际需要的机械手差距很大。作者从现实的角度出发,提出了三维动作的弹性机械臂的结构方案,同时完成了按这一方案开发的三维弹性机械手系统的控制实验,这虽是首次进行这种实验,却取得了良好的实验结果。 We have chosen a mechanical manipulator that has the advantages of easy bending and light weight in terms of structure. In recent years, the research on this kind of flexible manipulator has been very hot. Almost all of them can control the object is limited to only one or two joints in the plane of the object, and the actual need for a large gap between the manipulator. From realistic point of view, the author put forward the structure scheme of flexible manipulator with three-dimensional motion and completed the control experiment of three-dimensional elastic manipulator system developed according to this scheme. Although this experiment is the first time, Experimental results.