1 目录摘要................................................................................................................................ 3 1绪论................................................................................................................................................ 4 机械手概述............................................................................................................. 4 ........................................................................................................ 5 ........................................................................................................ 8 .................................................................................................. 10 2 机械手的驱动方式、类型和参数....................................................................................... 12 ...................................................................................................... 12 .............................................................................................. 13 .......................................................................................... 15 3 手部和腕部结构设计............................................................................................................. 16 ...................................................................................................... 16 .......................................................................................... 21 4 小臂和大臂结构设计............................................................................................................. 30 ...................................................................................................... 30 ...................................................................................... 34 5 腰部和基座结构设计............................................................................................................. 40
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