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对一种用于射孔弹上下料的气动机械手的插装作业机理进行了分析，建立了插装作业过程中的几何约束与力分析模型，导出了锥体接触、柱体一点接触和二点接触阶段插装时的位置和角度误差表达式，求解了各阶段所需的插装力，给出了避免发生卡阻和楔紧现象的几何与力约束条件．计算实例和实际作业证明：所提出的模型是正确有效的，该机械手的被动柔顺性能够保证其顺利完成多种射孔弹的插装作业．
The paper analyzes the working mechanism of a pneumatic manipulator used for loading and unloading a perforating projectile, establishes the geometric constraint and force analysis model in the process of inserting the projectile, and derives the conical contact, the one-point contact of the cylinder and the two-point The error expression of the position and angle during the insertion of the contact stage solves the insertion force required in each stage and gives the geometric and force constraints for avoiding jamming and wedging. The calculation example and the actual work proves that the proposed model is correct and valid. The passive compliance of the manipulator can ensure the successful completion of a variety of perforating projectiles.