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介绍了深潜救生艇水下对接的捕捉机械手，提出了该机械手的作业策略，设计了捕捉机械手的位置／位置控制系统，给出了系统的硬件框图和软件设计要点．
This paper introduced the capture manipulator of underwater submarine butt joint, proposed the manipulative tactics of the manipulator, designed the position / position control system of the manipulator, and provided the system hardware block diagram and software design essentials.