The characteristics of Slantway Pressing-and-Embedding Assembly (SPEA) is analyzed and a bionic gripper is designed for a typical application of this kind of complex assembly task.

• 以一个典型的实例为背景，分析了斜向压嵌装配这种复杂装配作业的特点。在此基础上，通过模拟人的装配动作，设计了相应的仿生手爪。