现根据座谈笔记,对 UNIMATE2000型机械手的工作原理进行整理(以电气控制原理为主),以供我国机械手“三结合”研制人员参考。川崎 UNIMATE2000型机械手,系于1969年由美国引进,1970年第一台川崎 UNIMATE2000型机械手试制成功。到1973年,在2000型(中型)的基础上,又发展了4000型(大型) According to the discussion notes, the working principle of UNIMATE2000 manipulator is organized (based on the principle of electrical control) for the reference of the “three combined” researchers in our country. Kawasaki UNIMATE2000 manipulator, was introduced in 1969 by the United States, in 1970 the first Kawasaki UNIMATE2000 robotic trial success. By 1973, on the basis of 2000 (medium), the development of the 4000 (large)