面向任务的多指机械手抓取构形评价与优选

基于机械手抓取物体时手指与物体之间构成有摩擦的固定点接触，提出一种面向任务的机械手抓取构形评价方法，在保证一定抓取稳定性和满足任务要求的前提下，以整个操作过程中手指接触力的最大值最小为目标确定最佳的抓取构形。结合实例说明了抓取构形评价与优选方法的应用。

Task-oriented grasping configuration evaluation and selection by multi-fingered hands

Based on fixed point contact with friction between the fingers and the grasped object, a task-oriented grasping configuration evaluation method is presented. On the condition of meeting the grasping stability and the task requirement, the optimal grasping configuration is determined with the goal of minimizing of the maximal finger contact forces during the entire manipulating process. An example is given to illustrate the method application for the grasping configuration evaluation and optimal selection.