| 多指灵巧手的最佳灵巧性设计 |
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| 引用本文： | 杨洋,张启先.多指灵巧手的最佳灵巧性设计[J].机械设计,2001,18(1):22-26. |
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| 作者姓名： | 杨洋 张启先 |
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| 作者单位： | 1. 西北轻工业学院 机械工程系,
2. 北京航空航天大学 机器人研究所 |
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| 摘 要： | 首先讨论了多指抓持系统中抓持物体的灵巧性 ,指出该系统的灵巧性取决于各手指的性能。然后 ,分析了单个手指 (单个操作器 )的灵巧度 ,通过对手指灵巧性的要求 ,确定手指 (操作器 )的最佳工作区域。最后 ,提出具有最佳灵巧性的多指灵巧手的设计准则 ,并利用两指手、三指手的设计 ,表明了多指手的最佳灵巧性设计
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| 关 键 词： | 灵巧性 多指手 最佳工作区域 |
| 文章编号： | 1001-2354(2001)01-0022-05 |
| 修稿时间： | 2000年3月20日 |
Optimal dexterity design of multi-fingered dexterous hands |
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| YANG Yang,et al.Optimal dexterity design of multi-fingered dexterous hands[J].Journal of Machine Design,2001,18(1):22-26. |
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| Authors: | YANG Yang et al |
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| Abstract: | Firstly, the dexterity of grasping object in multi-fingered hand grasping system was discussed and pointed out that the dexterity of this system was depending on the function of each finger. Afterwards, the dexterity of each single finger was being analyzed, and by means of the requirement on finger's dexterity to determine the optimal working zone of fingers(manipulators). Finally, the designing criterion of multi-fingered hand, which possesses optimal dexterity, was advanced. The optimal dexterity design of multi-fingered hand was demonstrated by the design of two fingered and three fingered hands. |
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| Keywords: | Dexterity Multi-fingered hand Optimal working zone |
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