由冗余自由度手指构成的多指灵巧手具有较大的灵巧性，对物体进行微细操作以及抓取特殊形状物体的能力也比非冗余自由度手指构成的多指手要强。
The multi fingered robot hands constructed by redundant fingers are more dexterous and have bigger possibility to finish fine operation and to grasp objects with complicated shape.
以全口义齿排牙机器人为研究对象，采用3个手指9个自由度的灵巧手结构设计。
A complete denture tooth-arrangement robot with 3 fingers and 9 DOFs dexterous hands is studied and a new mechatronics modeling and simulation system is established based on Simmechanics technology.
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