Abstract：This paper analyzes the structural of several typical multi-fingered robot hand, relative structural dimensions between fingers of 3 finger 12 DOF multi-fingered hand are designed optimally, and satisfactory results are reached. Detailed structural design,-has carried out for this hand, and 3D drawing is given.
1 Okada T. An Artificial Finger Equiped with adaptability to An Object. Bull. Electrotech. Lab. 1974,37(2): 1078～1090 2 Jacobsen S C, Wood J E, Knutti D F, Biggers K B. The Utah/MIT Dexterous Hand: Work in Progress. The International Journal of Robotics Researoh. 1984,3(4): 20～30 3 Thomas H. Speeter Control of the Utah/MIT Dexterous Hand: Hardware and Software Hierarchy. Journal of Robotic Systems. 1990,7(5): 759～790 4 Stansfield S A. Robotic Grasping of Unknown Objects: A Knowledge-Based Approach. The International Journal of Robotics Research. 1991, 10(4): 314～326 5 毕树生, 宗光华. 机器人抓具. 机器人技术及应用. 1996,(2): 15～18 6 卢江舟, 张启先. 机器人多指灵巧手的抓取结构分析. 中南工业大学学报. 1998,29专辑: 40～43 7 徐振中, 周华平, 张彭. 3指机器人手系统协调运动的一种规划方法. 中国有色金属学报. October 1994,5专辑: 438～443 8 张建国. Puma/RAL手系统的研制. 机器人情报. 1989,(3): 7～10 9 Richard M. Crowder An Anthropomorphic Robotic End-Effector. Robotics and Autonomous Systems, 1991,(7): 253～268 10 加藤一郎. 机械手图册. 上海科学技术出版社, 1979.9: 10～60 11 于建国, 马香峰. 灵巧手运动学分析. 机器人. 1993,15(6): 35～39 12 Mark R. Cutkosky.Grasp Choice,Grasp Models,and the Derign of Hands for Manufacturing Tasks. Internationl Journal on Robotics and Autoration.1989,5(3): 269～277 13 Zhang Yongde, Liu Tingrong. Imagimary Displacement Method for Grasping Stability Analysis of Multi-Fingered Robot Hands. The Journal of Harbin Institute of Technology(English Edition).(Waited for Publishing) 14 Zexiang Li,Ping Hsu,Shankar Sastry.Grasping and Coordinated Manipulation by a Multifingered Robot Hand.The Interational Journal of Robotics Research.1989,8(4): 33～50
