機器人在工業上的運用領域中，有許多的細致運動(fine motion) ，例如工作物夾持

(grasping)、平移、上移、下移(manipulation)等組裝(assembly)工作，非得由多自

由度的機械指(multifingered robot hands) 來完成不可。故本篇論文針對此目標自

行研發一套九個自由度的關節式機械手指系統，逐一完成夾持，平移等組裝工作之功

能。

In the field of industrial application for robot, there are many fine mot-

ions such as grasping, manipulation, etc. and those assembly tasks have to

be finished by multi dimensional multifingered robot hands. Therefore, we

developed a system which is a nine degree of freedom multifingered robot

hand to achieve the goal and present in this paper.

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