On Optimizing the Kinematic Geometry of a Dextrous Robot Finger

Abstract

Building on previous work, where we identified kinematic chains suitable for application as dextrous robot hands, we now explore how to optimize the kinematic geometry of a multiloop, multifree dom mechanism so that simple equations of movement are achieved. Specifically, we wish to find the mechanism geometry that provides the simplest expressions for the movement of the fingertip. Being based in geometry, the approach described here is applicable to a wide range of mechanism-design problems.