This paper discusses the influence of finger size of a manipulator on its holding errors, and describes how to design the V-type finger size based on the holding errors.
讨论了机械手手指尺寸对手指夹持误差的影响；阐述了根据机械手夹持误差设计V型手指尺寸的方法；给出了夹持工件的下限以及工件与支承件之间的干涉条件。
A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of direction cosine.
采用D-H后置法建立了4R机器人运动方程，建立机器人执行机构在空间相对位置关系的数学模型，由此可解出手部位置和用单位矢量方向余弦表示的姿态。
A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of direction cosine.
采用D-H后置法建立了4R机器人运动方程，建立机器人执行机构在空间相对位置关系的数学模型，由此可解出手部位置和用单位矢量方向余弦表示的姿态。
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