讨论了机械手在操作过程中零件姿态的测定问题．利用安装在机械手两个不同位置的角度传感器测得的零件张角以及机械手手指与零件接触时的位置坐标，采用一定的算法可唯一确定零件的姿态．最后进行了仿真实验，并给出了实验结果． This paper discussed the determination of the posture of the robot during the operation. Using the angle of the part measured by the angle sensor installed at two different positions of the manipulator and the position coordinates of the manipulator’s finger contacting the part, a certain algorithm is used to uniquely determine the posture of the part. Finally, a simulation experiment is given and the experimental results are given.