以三指灵巧手的速度可操作性椭球和力可操作性椭球研究为基础,定义了机构的速度方向可操作度和力方向可操作度。在给定灵巧手操作位姿的条件下,以方向可操作度为目标函数,给出了灵巧手最佳传速方向和传力方向的优化方法。最后,以三指灵巧手为算例进行演示,得出了灵巧手在给定位姿下的最佳传速方向和传力方向,为灵巧手的抓持规划提供了值得借鉴的方法。 Based on the three-finger dexterous hand speed maneuvering ellipsoid and force maneuverability ellipsoid studies, the mechanism’s speed-direction maneuverability and force-direction maneuverability are defined. Given the manipulative pose of dexterous hand, the optimal manipulability of the dexterous hand is given as the objective function, and the optimal method of the dexterous hand speed and force direction is given. Finally, the dexterous hand with three fingers is used as an example to show that the dexterous hand can get the best speed and direction of force transmission in a given pose, which provides a valuable reference for the dexterous hand grasping planning.