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因各种疾病、交通事故和体育事故而致残的长期卧床患者已有增无减,其中约有百分之九十生活在家庭中。照顾和护理他们的生活,是一项繁重的工作,需耗费很大的精力。为了减轻护理人员的负担,使患者能根据自己的意志进行简单的日常生活护理,东京大学工学院从1978年起开始对长期卧床患者日常生活护理装置进行研制。该装置的外形如图1所示,主要由机械手、贮藏库与搬运车、控制装置和通讯装置组成。一、机械手其机械结构如图2所示,各部尺寸见表
The number of bedridden patients who have become disabled due to various diseases, traffic accidents and sports accidents has increased. About 90% of them live in families. Taking care of and caring for their life is a heavy work and requires a lot of energy. In order to reduce the burden on nursing staff and enable patients to carry out simple daily life care according to their own wishes, the Faculty of Engineering, University of Tokyo started to develop long-term bedridden daily life care devices since 1978. The appearance of the device shown in Figure 1, mainly by the manipulator, storage and handling vehicles, control devices and communication devices. First, the mechanical structure of the manipulator shown in Figure 2, the size of each minutiae table