应用力螺旋理论建立了多指手抓取矩阵与外力螺旋之间的关系，对多指手抓取 爆炸物能力进行研究． 首先建立多指手抓取爆炸物的力学模型，确定影响抓取的参数; 然 后以最大抓取重量为目标函数，建立满足力封闭约束条件下的抓取数学模型，并采用神经 网络和优化方法对多指手抓取爆炸物进行了仿真，研究多指手不同抓取位置与爆炸物重 量之间的对应关系，获得了多指手抓取爆炸物时最有利的抓取位置．

On the basis of the force screw theory, the relationship between the grasp matrix of multi-fingered dexterous hand and the external force screw is established to investigate the ability of multi-fingered dexterous hand to grasp an explosive. Firstly, a mechanical model of multi-fingered dexterous hand which can grasp an explosive is constructed and the parameters influencing the grasp are determined. Then, with the maximum grasp being the goal, a mathematical model of the grasp is constructed under the constraint of force closure. Finally, through the neural network and optimization methods, the multi-fingered dexterous hand grasping an explosive is simulated, so as to reveal corresponding the relationship between the grasp position and the explosive weight. Thus, the best grasp position is obtained.