Kinematic chains with mobility requirements that are suitable for applications such as dextrous robot hands can be found using a pro cess called number synthesis. This process, however, enumerates many kinematic chains, some of which are more suitable than others for practical applications. Here we examine those characteristics of kinematic chains which make for practical and robust dextrous robot hands. Eliminating the chains that possess undesirable characteris tics while retaining those with desirable features vastly reduces the list of candidates, leaving only the most suitable chains. Number synthesis produces kinematic chains independent of specific joint and link geometry; a process for assigning essential dimensions to a kinematic chain is discussed.
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