2015
DOI: 10.1115/1.4031339
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Dimensional Synthesis of Wristed Binary Hands

Abstract: The kinematic synthesis applied to tree topologies is a tool for the design of multifingered robotic hands, for a simultaneous task of all fingertips. Even though traditionally wrists and hands have been designed separately, the wrist usually being part of the robot manipulator arm, it makes sense to consider the wrist as a part of the hand, as many grasping and manipulation actions are a coordinated action of wrist and fingers. The manipulation capabilities of robotic hands may also be enhanced by considering… Show more

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