To prevent the rotating movement of the workpiece, the moment at each clamping point caused by the cutting force has to be eliminated by the forces at the clamping points.
为了防止工件的旋转，每一个点由于切削力引起的扭矩都必须用夹持点的力去除。
The analytic expression of the fingertip gesture is deduced when the fingertips clamp the object with random postures at a gripping point, and the clamping dexterity is defined with the pose sphere.
推导了指尖在夹持点对处于任意姿态的物体进行夹持时所需姿态的解析表达式，并借助姿态球给出了夹持灵活度的定义。
The computational result showed that the five point-double toggle clamping system is the best one.
计算结果表明，五铰链双曲肘机构为最佳类型。
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