我校设计和试制的示教再现式机械手采用摆动油缸直接带动花键轴经轮系驱动手腕的旋转和摆动运动(如图1)。其优点是结构紧凑,重量轻,有利于改善机械手的运转性能。摆动油缸的内漏难于控制,它的密封问题值得研究。本文对摆动油缸基本参数(转速、扭矩)和密封结构作初步探讨。 Our design and trial production of teaching Reproductive robot swing cylinder directly driven spline shaft through the wheel drive wrist rotation and swinging movement (Figure 1). Its advantages are compact structure, light weight, help to improve the performance of manipulator. Oscillation cylinder difficult to control the internal leakage, it is worth studying the sealing problem. In this paper, the swinging cylinder basic parameters (speed, torque) and seal structure for preliminary discussion.