中文摘要：

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。

英文摘要：

On the basis of velocity manipulability ellipsoid and force manipulability ellipsoid of three-finger dexterous hand,the paper defined the velocity directional manipulability and force direc-tional manipulability of the mechanism.Under the condition that the operational position and orientation is given,by taking direc-tional manipulability as the objective function,the optimization method of optimal velocity transmission direction and force transmis-sion direction of dexterous hand was presented in this paper.Final-ly,by taking three-finger dexterous hand as an example to carry out illustration,the optimal velocity transmission direction and force transmission direction were obtained under given position and orien-tation,providing valuable reference for grasping planning of three-finger dexterous hand.