【摘要】 本文对目前已经制造出的几种典型的多指灵巧手的结构进行了分析．对一种三指十二自由度的多指灵巧手的各指之间的相对结构尺寸进行了优化设计，得出了比较满意的结果．并对该手爪进行了具体的结构设计，给出了其三维视图．更多还原

【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.更多还原