目的 为了提高食品、医疗等行业包装产品的生产效率、自动化程度以及降低企业成本，对能够实现短小丝条状物料连续包装、自动计量和充填来代替人工操作的特殊机械手开展研究。方法 应用机电一体化和控制技术，设计一种全自动机械手，机械手整体采用直角坐标型设计方案；机械手由6只料手构成，并配置单片机称量装置，实现自动计量；料手采用多指结构，通过控制料手动作，实现抓取物料和卸放充填包装；机械手水平往复运动和竖直上下运动由PLC控制实现；结果 对机械手样机进行试验研究，结果表明该机械手能够模仿人工操作，可以实现对短小丝条状物料的拾取、计量和充填。结论 该机械手的设计原理可行，为短小丝条状物料的全自动化包装奠定了技术基础。

The work aims to carry out the research on the special automatic manipulator which can realize the continuous packaging, automatic measurement and filling of the filamentous materials to replace manual operation, in order to improve the production efficiency and automation and reduce business cost in food and medical industry. Based on mechanical and electrical integration and control technology, automatic manipulator was designed, whose overall structure used rectangular coordinate design scheme. The manipulator was composed of six hands with single chip microcomputer weighing device to achieve automatic measurement. Each hand had a multi-finger structure and it could grasp and discharge materials to fill the package through controlling the motion of hands. The horizontal and vertical motion of manipulator was controlled by PLC. By testing the prototype, the manipulator could simulate artificial operation and realize pickup, measurement and filling for filamentous materials. The design principle of the manipulator is feasible and lays the technical foundation for achieving automatic packaging of filamentous materials.