机器人多指灵巧手的结构型式的优化分析

Optimal analysis on the structural type of multi-fingered skilful robot hand

本文对目前已经制造出的几种典型的多指灵巧手的结构进行了分析。对多指灵巧手结构形式上的几个主要方面进行了优化分析，提出了完成一般任务的通用的多指灵巧手的最优结构型式，并对其进行了具体的结构设计，给出了三维视图。

This paper carried out the analysis on the structure of several typical multi-fingered skilful hands which have currently been manufactured. Optimal analysis has beem made on several main respects of the stuctural form of multi-fingered skilful hand. The optimal structural type of versatile multi-fingered skilful hand for the accomplishment of common task has been put forward. Its concrete structural design was carried out and the 3D views were provided.