Kinematics of Grasping with the Modular Dextrous Hand.

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1989

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Abstract

The grasping stage of the modular dextrous hand is shown to allow up to 48 ways of realizing a given grasp triangle. A simple geometrical method of identifying the mechanism's singular configurations is described.

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http://hdl.handle.net/1903/4881

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Institute for Systems Research Technical Reports