Considering the requires of operating surroundings, ability of grasping, singularity and reliability of the designs, we choose the hand with three grippers.

• 接着进行结构设计,用直流伺服电机驱动,用推动螺杆、平行四杆机构和曲柄滑块机构的组合而成的机构作为运动变换单元。