5.1 結論
本研究成功地開發了具有一主動和一被動自由度的機構驅動式通用型夾爪，
並為夾爪上的壓力陣列設計了適合的壓力陣列軟墊和可以幫助夾爪作更包覆性夾 取的紅外線陣列近接感測器。
除了硬體上的開發之外，研究中還提出了一套完整且低耗時的計算夾取姿態 演算法，這個演算法依賴了兩個主要的策略，第一個為，演算法中將物體的形狀簡 化，分類至四個簡單的幾何形狀中，並以此簡化的模型來計算夾取姿態，第二個策 略延續了第一個策略，在演算法中將夾取姿態的設計簡化至二維空間並且只需要 擴展至四個幾何簡單幾何形狀上，不只節省了對每個物體設計夾取姿態的時間也 因為將夾取姿態的計算壓縮至二維空間上節省了大量的計算時間。
5.2 未來展望
(1) 研究中提出的演算法從實驗結果來看，在鬆散的環境是可行的，之後需要再利 用更多的實驗驗證演算法在複雜環境的可行性和是否有可以改進之處。
(2)雖然當物體的表面顏色平均時，近接感測器的表現良好，然而當紅外線遇到物 體表面顏色差異很大時，其可靠度會降低非常多，如何改進是可以思考的方向。
(3)研究中滑動偵測調整夾取力量的部分尚未在各式夾取姿態下進行測試，其是否 能適用於所有的夾取姿態中並能穩定的調整夾取力量是未來可以再努力的方向。
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