The kinematicsof higher pairs with point contact surfaces and the application on manipulation of multifingered robot hand are researched in this paper.
本文系统研究了曲面点接触高副的接触运动学，以及在机器人手点接触抓取操作中的应用。
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Besides, the difference of body form between Wushu member and ordinary people were compared and analyzed from the pointofkinematics.