在介绍具有手脚融合功能的步行机器人整体结构的基础上,阐述了机器人手部的总体设计方案,对手部设计的基本要求进行了说明。对驱动装置和传动装置的选取、手部驱动力矩与功率的计算、手部结构的设计过程进行了详细介绍。 Based on the introduction of the overall structure of pedestrian robot with fusion of hands and feet, the overall design of robot hand is expounded, and the basic requirements of hand design are described. The selection of driving device and transmission, the calculation of hand driving torque and power and the design of hand structure are introduced in detail.