刚柔耦合机械手的抓握姿态和力综合优化方法

王天磊,冯李航,孙振兴,柯云,李超超,胡记伟

Comprehensive optimization of gripping gesture and force of soft-rigid robotic hand

Tian-lei WANG,Li-hang FENG,Zhen-xing SUN,Yun KE,Chao-chao LI,Ji-wei HU

图 6 机械手在不同期望力下的最优抓握姿态

Fig.6 Optimized gesture of robotic hand with different expected forces