Gogu最近提出計算並聯式機械手臂自由度的方法，此方法是利用線性代數的概念，所使用的結構參數包括機構連結度、多餘度、及過度拘束。 本論文針對數個機械手指抓取物體的情況，將手指與物體考慮成並聯式機械手臂之肢幹與活動平台，利用Gogu的公式可計算各手指穩固抓取物件或是數個手指與物件間發生滑動時的自由度，在穩固抓取時各肢幹之最後一桿和物件會形成同一剛體，而滑動時兩者是以平面對連接，本文分別考慮數種抓取方式，及各肢幹滑動時所造成自由度的差異，指出物體所可能從事的運動，並且與常見的CGK公式比較結果。 A method to calculate degrees of freedom (mobility) of parallel manipulators has recently been suggested by Gogu. The method is based on linear algebra, and structural parameters utilized in this method include connectivity, redundancy, and overconstraint. In this thesis the author deals with situations of multi-fingered grasping of an object. Fingers and objects are considered as the limbs and the moving platform of a parallel manipulator, respectively. The degree of freedom is calculated by using the method suggested by Gogu. As the grasping is firm, a finger is considers as a part of the object. If relative slip occurs, then the finger is considered to be connected to the body by a planar pair. Degrees of freedom are calculated for several types of mechanical fingers, and with various numbers of slipped fingers. Comparisons to the popular CGK formula are also given in this thesis.
