医用排牙多指灵巧手的结构参数优化设计

针对排牙多指灵巧手手指的工作状态,通过D-H坐标的建立,借助于雅可比矩阵和一些结构参数优化的评价指标,利用多目标函数优化的方法,并结合排牙工作的特点和多指灵巧手抓取物体的特性建立约束条件,对手指各项参数进行了优化计算.结果证明：此优化能有效减少灵巧手指的长度,使其各标准综合达到最优.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.

Optimal Structural Parameter Design of Medical Tooth-arrangement Multi-fingered Dextrous Hand

Aiming at the work state state of the fingers of tooh-arrangement multi-fingered dextrous hand , by the establishment of D-H coordinates .using Jacobian malrix and some appraisable guide lines of structural parameter, by the foundation of the multi-target function , and hy the peculiarity of tooth-arrangement and dextrous hand grasp to give the restrictions , this paper optimally calculates the parameter of fingers. The results proves that the length can be practically reduced to make the multi-fingered dextrous hand optimal, and it comes to the conclusion that an optimal structure including a palm,three fingers and nine rotations joints.