【摘要】 结合为完成放射性物质装配任务的ＳＣＡＲＡ装配机器人的设计实例，介绍了该机器人工作原理、控制过程、多个末端执行器自动换接技术，并实现以主－从控制和ＰＴＰ控制两种方式完成作业．更多还原

【Abstract】 With the example of designing SCARA assembler robot for fulfil the assembling task of radioactive substances, this paper introduces the functioning principle, controlling process and automatically shifting technology of terminal executors of this type of robot. The performance of combining principal-subordinate control with PTP Control is realized.更多还原