其中，机械手指、电动改锥、螺钉盘、机械手与PLC控制器间的通讯及双方软件协调方面的设计都具有一定的特点。
This system is made up of robotic, PLC and pneumatic technology, The design for gripe of robot, electric screwdriver and the communication between robot and PLC has a certain feature .
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。
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.
多指机械手抓取物体时，需要选取手指和物体的接触位置，最大限度地抑制外来扰动，实现稳定抓取。
When grasping an object with a multi-fingered robot hand, contact points on the object should be arranged deliberately to achieve maximum resistance to external disturbances.
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