研究适合国情的经济性好、结构简单、具有适宜作业空间的工业机器人,是科技人员面临的重要任务。本文据此观点进行了下述研究: 1.进行了经济、清洁的工业机器人气动系统试验; 2.提出了建立工业机器人运动系统的“作业运动分解组合方法”、表达运动机能的“结构组合公式”,并建立了运动系统的数学模型。 3.对简易、灵活和经济的声控示教装置进行了试验。 It is an important task for scientists and technicians to study industrial robots that are suitable for the national conditions and have good economy, simple structure and suitable working space. In this paper, the following studies are carried out from this point of view: 1. Economic and clean pneumatic system experiments of industrial robots were conducted; 2. Proposed the “combination of working and movement decomposition method” for establishing industrial robot kinematics system, ", And established a mathematical model of the movement system. 3. A simple, flexible and economical audio teaching device was tested.