BH-1灵巧手运动学和动力学建模研究

Kinematic and Dynamic Modelling Study of BH-1 Dextrous Hand

通过对ＢＨ－１灵巧手结构的分析，建立了其运动学和动力学模型，并对其运动姿态进行了仿真研究。

This paper analyses the structure of BH-1 dextrous hand,and derives its kinematic model and dynamic model.The simulation of finger's motion is given.The models provide a basis and theoretic reference for the investigation of BH-1 dextrous hand's control.