KINEMATIC CHAINS FOR ROBOT HANDS .2. KINEMATIC CONSTRAINTS, CLASSIFICATION, CONNECTIVITY, AND ACTUATION

The work in this paper follows on from Part 1. We now consider the spe cific example of robot hands and identify several kinematic constraint s of these devices. The method for number synthesis of kinematic chain s in Part 1 is applied in several different ways in order to synthesis e chains suitable for application as robot hands; several examples of the structures so found are presented. So as to identify those kinemat ic chains that are more promising than others, the new concept of mini mal sets of kinematic chains is defined. Another new concept, the vari ety of a kinematic chain, is defined and used to make generalisations about relative connectivity within kinematic chains, which has applica tion in the selection of actuated pairs. Fractionation of kinematic ch ains is reviewed in light of the concept of variety. The work presente d here has application far beyond the number synthesis of alternative structures for robot hands.