基于仿人并联手指机构的机器人灵巧手设计与性能研究

方跃法，黄一峻

Design and performance research of robot dexterous hand based on humanoid parallel finger mechanism

FANG Yuefa, HUANG Yijun

北京交通大学学报 . 2021, (4): 146 . DOI: 10.11860/j.issn.1673-0291.20200104