介绍了受控五杆机构的机械系统结构及其控制原理，提出在PMAC控制器基础上运用VC对受控五杆机构试验台的上位机的编程设计。

This paper introduces the machine structure of controlled five-bar mechanism and its theory of control, and puts forward a plan that develops the program of the control system by VC base on PMAC.

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介绍了用于奶油包装的塑料袋热封机械手的工作原理、控制过程以及各机构的主要特点。

The working principles, control process and the characteristics of main mechanism of plastic bag thermo sealing robot for packaging semisolid margarine.

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详细叙述了其机械结构和控制系统的设计，运用D -H法分析了机构运动。

The machine structure and control system of this robot are discussed in detail, and the study of robot motion is made by D-H method.

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