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。

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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。

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