Optimal Structural Parameter Design of Medical Tooth-arrangement Multi-fingered Dextrous Hand

Aiming at the work state of the fingers of tooth-arrangement multi-fingered dextrous hand , by the establishment of D-H coordinates ,using Jacobian matrix and some appraisable guide lines of structural parameter, by the foundation of the multi-target function , and by the peculiarity of tooth-arrangement and dextrous hand grasp to give the restrictions, this paper optimally calculates the parameter of fingers. The results proves that the length can be practically reduced to make the multi-fingered dextrous hand optimal, and it comes to the conclusion that an optimal structure including a palm,three fingers and nine rotation joints.