摘要
对国内外在机器人多指手样机研制和抓取机制领域所取得的最新进展及研究现状进行综述。介绍国内外机器人多指手的样机模型和最新研制进展,提出今后多指手研究发展方向及必然趋势。归纳多指手在抓取机制方面的典型研究方法,总结抓取力封闭性与形封闭性的研究成果及存在的不足,指出在多指手研究方面有待进一步解决的问题。
A survey on multi-fingered hand and grasp mechanism is presented. The prototypes of multi-fingered hand and its up-to -date development are introduced. The developing trends of the multi-fingered hand are prospected. Several representative methods on grasp mechanism are reviewed. The force-closure, form-closure and some indexes for evaluating grasping are analyzed. Some further research contents in this domain are indicated.
出处
《现代制造工程》
CSCD
2007年第9期148-152,共5页
Modern Manufacturing Engineering
基金
国家教育振兴行动计划专项基金资助项目(3008002102)
关键词
多指手
样机
抓取机制
形封闭
力封闭
Multi-fingered hand
Prototypes
Grasp mechanism
Form-closure
Force-closure
