变姿态下的多指手抓取爆炸物能力分析

将多指手运用于排爆机器人以提高处理爆炸物的能力。论文针对排爆机器人在作业时其姿态的不断变化对抓取爆炸物能力的影响，寻求有利于提高抓取能力的最优手指关节角，以及多指手在不同的姿态下能抓取爆炸物的最大重量，并得出抓取能力最差的位姿。论文还考虑到爆炸物容易爆炸的特点，研究接触力不超过爆炸物所能承受的极限时多指手的抓取能力，为机器人安全操作爆炸物，防止过大的夹持力而使爆炸物发生爆炸提供理论依据。

Multifingered Hands Grasp Ability Analysis Under Variational Robot Posture

A multifingered robot hand is been used in the Explosive Disposal Robot to dispose the explosive. Grasping ability is a problem when the grasp posture of the robot is changing. This paper discusses grasping ability of the multifingered robot hand. Using screw theory and BP neural network optimize the joint angle of the finger, Seeking the best grasp posture that the multifingered robot hand can withstand the largest external wrench. At the same time, in order to guarantee the explosive not to be exploded becauce of the exceeding grasp force, the multifingered hand can hold how weight of the explosive is discussed in this paper. It is important guide to confirm the grasp force for the multifingered robot hand handing of hazardous items.