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In this paper, the kinematic synthesis of a four-link mechanism with rolling contacts is investigated. This mechanism comprises a two-fingered gripper and a grasped object. The synthesis equations used for motion generation and function generation are established. The number of free choices in design variables for the kinematic synthesis is also discussed.(More)
— The purpose of this work is the realization of a methodology for synthesizing tendon-driven manipulators with high fault tolerance. Characteristics of tendon-driven manipulators are briefly discussed. Criteria for the tendon-driven manipulators to have positive tension are then established. Constraints for such manipulator are subsequently derived from(More)
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