中文摘要：

以残障人士和老年人最常见的10项日常活动作为辅助目标,研制了一款安装于电动轮椅上的6自由度轻型作业臂。文中对作业臂的本体、末端手爪和控制器进行了详细设计。对该作业臂安装于轮椅上可操作度的分析表明：作业臂在常见作业点上具有良好的操作性能;典型喝水服务试验则表明该作业臂能辅助残障人士和老年人的日常生活,为带作业臂智能轮椅系统进入残疾人和老年人的生活奠定了基础。

英文摘要：

A wheelchair-mounted manipulator with 6-DOF was developed based on the ten most-common activities of daily life.The manipulator,gripper and controller were designed in detail.The analysis of manipulatabilit indicates that the manipulator has good dexterous performance.An Aided-Drinking Experiment showed the ability of this manipulator to help aged and disabled people in daily life,and laid a foundation for developing intelligent wheelchair-mounted manipulator.