| 三指灵巧手的结构优化设计 |
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| 引用本文： | 孟庆鑫,贾灵,王立权,李平.三指灵巧手的结构优化设计[J].应用科技,2003,30(11):1-4. |
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| 作者姓名： | 孟庆鑫 贾灵 王立权 李平 |
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| 作者单位： | 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 对多指灵巧手结构形式进行了优化分析，对手指参数、三指灵巧手位姿进行了优化设计．得出了包括1个手掌、3个手指、9个回转关节的灵巧手结构，该结构既适合于抓取物体又具有较好机械特性，为以后灵巧手的控制研究提供基础．
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| 关 键 词： | 三指灵巧手 优化设计 结构设计 机器人手爪 |
| 文章编号： | 1009-671X(2003)11-0001-04 |
| 修稿时间： | 2002年11月1日 |
Optimal structural design of three-fingered dextrous hand |
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| MENG Qing_xin,JIA Ling,WANG Li_quan,Li Ping.Optimal structural design of three-fingered dextrous hand[J].Applied Science and Technology,2003,30(11):1-4. |
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| Authors: | MENG Qing_xin JIA Ling WANG Li_quan Li Ping |
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| Abstract: | This paper made an optimal analysis of the structural forms of multi_fingered dextrous hand, and presented an optimal design of finger parameters and position_orientation of the dextrous hand. And it comes to the conclusion that an optimal structure including a palm,three fingers and nine rotation joints which fits object grasp and has preferable mechanical performance. The structure provides the basis for further study of control. |
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| Keywords: | three-fingered dextrous hand structural optimal design |
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