本文主要包括了以下几个方面的内容：首先，介绍了水下作业机械手的特点和组成结构、分析了其工作原理。

The following parts are included in this thesis: Firstly, the characteristic and the structure of the underwater manipulator and its work principle are discussed.

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然后分别针对水下机械手的研制思路和水下作业工具的研究状况及难点等进行了分析与评述，给出了相关建议。

For the ROV status and difficulties of subsea manipulators and underwater tools, key points are discussed and analysed, and trends and Suggestions are given for the future research work.

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本文以水下平台为载体，设计了一水下作业型机械手，建立了其运动学和动力学方程。

In this thesis, an underwater manipulator has been designed by author, and kinematics and dynamics equation of the manipulator has been set up.

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