对机械手整体结构、传动系统、驱动装置和控制 系统进行了分析和设计。

The overall structure of the manipulator, drive, drive and control system analysis and design.

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本文针对由发动机、离合器、CVT传动系统和汽车载荷构成的汽车整体模型，建立了无级变速汽车传动系统数学模型。

According to the principle of mechanical transmission, the mathematical model of transmission system, composed of the engine, the electromagnetic clutch, CVT and the load, is established.

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按照优化设计的理论，在CA614 0车床数控化改造过程中对进给传动系统进行整体优化设计研究，得到了系统最优目标下的主要参数。

Basing on the methods of the optimum design, this paper designs the feeding transmission system for rebuilding numerically CA6140 lathe, and obtains the primary parameters of the system.

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