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导出关节式机械手手部（简称点S）在水平方向和垂直方向的加速度（ａｘ，ａｙ．）及其合加速度ａs的计算式。通过实例说明了这些计算式的应用。这些计算式是进一步导出其它运动参数计算式和完成各运动程序的单片机软件开发的基础。
Derive the calculation formula of the acceleration (ax, ay.) In the horizontal direction and the vertical direction of the joint manipulator’s hand (abbreviated point S) and its combined acceleration as. An example is given to illustrate the application of these formulas. These formulas are the basis for the further development of other equations of motion parameters and the development of the microcontroller software for each motion program.