设计一种可手动/远程控制的移动式清淤液压驱动机械手系统.分析其机械手机构、液压驱动与控制和可编程电器控制的功用、工作原理、组成结构,研究和设计其相关的运动学和动力学.通过可编程控制器,可实现对抓子、回转台上回转臂和升降臂的控制,完成清淤操作.提出抓取率的概念和抓端理想轨迹线,分析实际轨迹线及特性要求,推导出抓端运动方程,实现了作业的高效率和过程控制的自动化. This paper designs a kind of mobile / remote control mobile muddy hydraulic manipulator system, analyzes its function, working principle and compositional structure of manipulator mechanism, hydraulic drive and control and programmable electrical control, researches and designs its related kinematics and Kinetics The programmable controller can realize the control of the swing arm and the lift arm on the gripper, the turntable and the dredging operation, and the concept of grab rate and the ideal trajectory of the grabbing end are proposed to analyze the actual trajectory and characteristics Requirements, derive the end of the equation of motion, to achieve the high efficiency of the operation and process control automation.