Abstract:Abstrac-The forward kinematics of one kind of multiple motion-coupled linkages mechanisms were investigated, which were applied to the finger of one kind of under-actuated hand, when the finger was not touching any objects. By setting virtual link-lengths for multiple motion-coupled linkages, a numerical approximating method to solve the linkages forward kinematics was advanced. The objective was to improve the iterative speed slowed by the motion-couple of multiple linkages. In this method, these virtual link… Show more
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