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讨论了多机械手协同系统的无内力抓取及相应的动载分配方法。对两个ＰＵＭＡ机械手协同操作同一物体的情况，进行了无内力分配原则下系统动载在关节空间的分配的数值分析。
The multi-robot coordinated system without internal force grasping and the corresponding dynamic load distribution method are discussed. In the case of two PUMA manipulators collaborating on the same object, the numerical analysis of the distribution of system dynamic loads in the joint space under the principle of no internal force distribution was carried out.