聂余满, 许德章, 王勇, 刘正士, 葛运建. 一种欠驱动水下机器人手爪的作业能力研究[J]. 机器人, 2005, 27(6): 497-501..
NIE Yu-man, XU De-zhang, WANG Yong, LIU Zheng-shi, GE Yun-jian. Study on the Manipulation Capacity of an Underactuated Underwater Robot Hand. ROBOT, 2005, 27(6): 497-501..
Abstract：Based on the analysis of the development of recent robotic hands and the characteristics of underwater tasks,this paper proposes the design requirements for the operating multi-sensor underwater robotic hand.The performance of the underwater robotic hands is also evaluated.Furthermore,the relationship between essential parameters of the robotic hand is formulated according to the robotic hand’s grasp of a typical object.The prototype of the robotic hand can meet the requirements of such tasks as object recognition,object grasp,simple assembly and object handling,and provides a hardware platform for further research on the sensory systems of the operating multi-sensor underwater robotic hand.
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