四自由度折叠式机械手的结构设计与分析

Design of Robot Hand with Four Degrees of Freedom

阐述了四自由度折叠式机械手的工作原理和结构设计方法，推导出机械手运动轨迹与控制方程，并对其工作特性进行了分析。结果表明，当大臂与小臂长度相等时，机械手具有较好的工作特性。

This paper introduces the principle and design methods of robot hand with four degrees of freedom. The motion locus and control equation are derived and the working characteristics are analyzed. The results show that the robot hand can obtain a better working characteristics when the length of its tow arms are nearly equal.