All flames are extinguished as early as possible, or fire services have to deal with major conflagrations. This leads to the fact that the quality of fire extinguishers has become a very sensitive and important issue in firefighting. Inspired by the development of automatic fire fighting systems, this paper presents a mobile manipulator to evaluate the power of fire extinguishers, which is designed according to the standard of fire extinguishers named as ISO 7165:2009 and ISO 11601:2008. A detailed discussion on key specifications solutions and mechanical design of the chassis of the mobile manipulator has been presented in Part I: Key Specifications and Conceptual Design. The focus of this part is on the rest of the mechanical design and controller de-sign of the mobile manipulator.

翻译：所有火焰都应在尽可能早的阶段被扑灭，否则消防部门将不得不应对重大火灾。这使得灭火器的质量成为消防领域中极为敏感且重要的问题。受自动灭火系统发展的启发，本文提出了一种用于评估灭火器性能的移动操作臂，该操作臂依据 ISO 7165:2009 和 ISO 11601:2008 灭火器标准进行设计。在第一部分：关键规格与概念设计中，已详细讨论了移动操作臂底盘的关键规格解决方案与机械设计。本部分的重点在于移动操作臂其余部分的机械设计与控制器设计。