机械手mechanical hand，　　也被称为自动手，auto hand　　能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。　　机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机械手设计的关键参数。自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有2～3个自由度。　　机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。　　机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手。manipulatorMechanical hand,Also called since begin, auto handCan imitate manpower and arm certain movements function, to a fixed program grab, moving objects or operating tool automation devices. It can replace human heavy labor to achieve production mechanization and automation, can in harmful environment operation in order to protect the personal safety and thus widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.Manipulator mainly by hand and sports organizations composed. Hand is used to catch hold workpiece (or tools), according to the parts were caught hold object shape, size, weight, materials and operational requirements and has a variety of structure forms, such as gripping type, torre hold type and adsorption type, etc. Movement mechanism, make hand finish all kinds of rotating (fluctuating), move or compound movement to achieve the specified movement, change caught hold object position and pose. Sports organizations fluctuation, extendable and rotation.hence, independent movement way, called manipulator degrees of freedom. In order to grab spatial arbitrary position and orientation of the object, need to have six degrees of freedom. Freedom is closing butterfly hand machine design key parameters. Free degrees, the more flexibility, the greater the generality of the manipulator is wider, its structure is also more complicated. General special manipulator have 2 ~ 3 degrees of freedom.Of the manipulator, according to drive mode types can be pided into hydraulic, pneumatic, electric type, mechanical manipulator, According to applicable range can be pided into special manipulator and general manipulator two; According to the trajectory control mode can be pided into position control and continuous trajectory control robots.Robots are used for machine tools or other machines additional device, like in the automatic machine or automatic production line on workpiece, loading and unloading and transfer in machining center replaced in tools generally, there is no independent control device. Some operation device needs by people directly manipulating, as for an atomic energy department conducted dangerous goods master-slave type an un-experienced operator also often called the manipulator.