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

作　　者：张永德[1] 刘廷荣[1] 李华敏[1] 

机构地区：[1]哈尔滨工业大学机电工程学院

出　　处：《机械设计》1999年第7期9-13,共5页Journal of Machine Design

基　　金："863"计划资助

摘　　要：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.

关 键 词：多指灵巧手 优化分析 机器人 结构型式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]