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已开发各种机器人夹持器。一个典型的机器人手爪图所示。 17 [53]。它有三个手指同时议案。 wallack和精明的[138]设计了一个自适应副,其中包括两个表爪能够在x轴转换。灵活的组装生产,意味着更大的灵活性和智能装配设备的需求。在许多情况下,它是合理使用自由可编程伺服抓手。通常这些伺服爪的基础上不像上夹子,其中大多是气动电动执行器。作者开发了一个紧凑型和智能伺服气动抓手[131]。夹持器,用于三维物体为两半。 Du等人。 [38]杜和林1998年[39],已开发了三个手指的自动化柔性夹具系统。 kopaccek和kronreif [70]开发的模块化并行手爪系统,它是在图18所示。 ti
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