Structural synthesis of dexterous hands

This paper proposes a complete procedure for the structural synthesis of dexterous hands. This procedure fuses the theories already developed for the structural synthesis of dexterous hands and parallel robots. Unlike others, this procedure allows one to synthesize any kind of dexterous hand with the desired structural design parameters: mobility, connectivity, overconstraint, and redundancy. Two examples of dexterous hands, which are synthesized to have 3 dof planar motion and 6 dof spatial motion, are also given.