拟人机械手的研究与发展

通过大量文献的分析与研究，根据驱动器和自由度的数目的不同，把拟人机械手分为灵巧手和欠驱动手两类。阐述了灵巧手和欠驱动手的国内外发展现状，总结了它们在各自发展中形成的主特征、关键技术以及存在的主问题，对两者的发展趋势和应用方向做了探讨。通过对比，灵巧手具有较高的操控和抓取物体能力，结构和控制系统复杂，成本高，可用于高尖端及需精密操纵的场合；欠驱动手结构简单，抓取物体时，本身具有很强的自适应能力，操纵和抓取物体能力尚可，易于在日常生活应用中普及发展。

The Research and Development of the Anthropomorphic Hand

According to the different number of drivers and degrees of freedom after extensive literature analysis and research, the anthropomorphic hand is divided into the dexterous hand and the underactuated hand. In this paper, the two kinds of hands are mainly discussed in following aspects ： current situation, main characters, key technologies, major prob- lems, trends and the field of application. By comparing the two anthropomorphic hands, the follow conclusions are ob- tained ： first, the dexterous hand has a higher ability to manipulate and grab an object with a complex structure and control system as well as a high cost, usually used in the occasion requiring sophisticated manipulation. Second, the under-actua- ted hand is simple on their structure and control system, also acceptable for manipulating and grabbing objects, and has a powerful self-adaptability when holding objects.