Abstract
In this paper, a geometric construction based means of realizing any specified planar compliance for an object held by a compliant hand is developed. It is shown that the elastic behavior of an object held by a multi-serial parallel mechanism (a multi-finger compliant hand) is more simply and equivalently modeled by a fully-parallel dual elastic mechanism. Synthesis procedures are developed for the realization of an arbitrary compliance with compliant hands using geometric constraints on the fully-parallel elastic dual. Kinematic topologies addressed are those associated with hands having 2 or 3 fingers for which each finger has 2 joints.
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