DOF manipulator is designed,using D-H method kinematic modeland an analysis of its work space and ADAMS Simulation,provide the technical basis for its further development.

• 文中设计一六自由度水下机械手,运用D-H方法建立运动学模型,并对其工作空间作了分析和ADAMS仿真,为其进一步研制提供技术基础。