中文摘要：

以国产KR-70004-PAX抓取型机械手装置为研究对象，运用电阻应变片式位移传感器及PLC-300数据采集系统，对机械手臂实际码跺过程中的时间段进行了测量分析。结果表明：机械手装置的作业半径、抓取重量大小因素变化对机械手臂主应力变化有较大的影响，当作业半径为3000 mm时，主应力在起动瞬间急剧增加，最高时达到6000 N/mm；当正常的作业半径为2000 mm，工件重量为350 kg时，主应力能达到5300 N/mm。

英文摘要：

Taking domestic KR-70004-PAX grabbing type manipulator device as the object of study,time of the mechanical arm in actual handling process were measured and analyzed by means of resistance strain type displacement sensor and PLC-300 data acquisition system. The results show that the manipulator device′s operation radius and grabbing weight factors have great influence on the principal stress change of mechanical arm. The principal stress increases sharply by 6000 N/mm at the moment of starting when the operation radius is 3000 mm. The principal stress can reach 5300 N/mm when the normal operating radius is 2000 mm and the weight of work piece is 350 kg.