I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
5
,
No
.
1
,
Ma
r
ch
2
0
1
6
,
p
p
.
1
~
5
I
SS
N:
2089
-
4856
1
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
Desig
n
o
f
Energ
y
Efficien
t
Four Fi
ng
er Robo
tic
H
a
n
d
B
hiv
ra
j
Su
t
ha
r
*
,
Nidh
i Sind
hu
*
*
*
D
e
p
a
rte
m
e
n
t
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
In
d
ia
n
In
st
it
u
te
o
f
T
e
c
h
n
o
lo
g
y
De
lh
i
,
In
d
ia
*
*
De
p
a
rte
m
e
n
t
o
f
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
,
De
e
n
Ba
n
d
h
u
Ch
h
o
t
u
Ra
m
Un
iv
e
r
sit
y
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
,
Ha
r
y
a
n
a
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
No
v
9
,
2
0
1
5
R
ev
i
s
ed
J
an
2
6
,
2
0
1
6
A
cc
ep
ted
Feb
1
3
,
2
0
1
6
F
u
tu
re
w
o
u
l
d
b
e
th
e
w
o
rld
o
f
ro
b
o
ti
c
s.
Hu
m
a
n
a
rm
is
th
e
b
e
st
se
rial
m
a
n
ip
u
lat
o
r
in
th
e
w
o
rld
.
En
d
p
a
rt
o
f
m
a
n
ip
u
lato
r
is
k
n
o
w
n
a
s
En
d
e
ff
e
c
to
r
o
r
h
a
n
d
.
A
t
th
e
e
n
d
o
f
se
rial
m
a
n
ip
u
lat
o
r
w
e
a
l
w
a
y
s
p
u
t
g
rip
p
e
r
ju
st
li
k
e
o
u
r
h
a
n
d
.
T
o
d
a
y
m
a
n
y
m
e
c
h
a
n
is
m
s
h
a
v
e
b
e
e
n
p
ro
p
o
se
d
f
o
r
ro
b
o
t
ic
h
a
n
d
.
W
e
p
ro
p
o
se
d
a
n
o
v
e
l
m
e
c
h
a
n
ica
l
d
e
sig
n
a
n
d
we
u
se
d
o
n
e
m
o
to
r
to
o
p
e
ra
te
th
e
g
rip
p
e
r
m
e
c
h
a
n
is
m
a
n
d
it
c
o
n
su
m
e
s
le
ss
e
lec
tri
c
a
l
p
o
w
e
r
th
a
n
o
th
e
r
g
rip
p
e
r.
F
o
r
e
n
e
rg
y
e
ff
icie
n
t
ro
b
o
t
w
e
h
a
v
e
to
re
d
u
c
e
th
e
n
u
m
b
e
r
o
f
m
o
to
rs
a
n
d
h
a
v
e
to
lo
o
k
in
th
e
m
e
c
h
a
n
ica
l
d
e
si
g
n
.
In
t
h
is
p
a
p
e
r
w
e
targ
e
ted
to
m
a
k
e
g
rip
p
e
r
m
o
re
e
n
e
rg
y
e
ff
icie
n
t.
W
e
u
se
d
o
n
ly
o
n
e
m
o
to
r
to
o
p
e
ra
te
fo
u
r
f
in
g
e
rs
s
y
m
m
e
tri
c
a
ll
y
.
Ou
r
p
ro
p
o
se
d
m
o
d
e
l
h
a
s
f
o
u
r
f
in
g
e
rs,
e
a
c
h
a
re
p
lac
e
d
o
rth
o
g
o
n
a
ll
y
to
e
a
c
h
o
th
e
r.
In
m
a
rk
e
t,
o
th
e
r
m
a
n
u
f
a
c
tu
re
s
u
se
sin
g
le
m
o
to
r
f
o
r
m
o
ti
o
n
o
f
e
a
c
h
f
in
g
e
r.
Ea
c
h
m
o
to
r
h
a
s
it
s
o
w
n
p
o
w
e
r
c
o
n
su
m
p
ti
o
n
c
a
p
a
c
it
y
to
m
a
n
ip
u
late
th
e
l
o
a
d
o
n
f
in
g
e
r.
W
e
re
p
lac
e
d
a
ll
f
o
u
r
m
o
to
rs
w
it
h
sin
g
le
m
o
to
r
b
y
G
e
n
e
v
a
m
e
c
h
a
n
ism
.
S
o
e
lec
tri
c
a
l
p
o
w
e
r
c
o
n
su
m
p
ti
o
n
re
d
u
c
e
d
b
y
1
/4
t
h
.
En
e
rg
y
c
o
n
se
r
v
a
ti
o
n
p
o
in
t
o
f
v
iew
it
is
e
n
e
rg
y
e
ff
icie
n
t
s
y
ste
m
.
T
h
is
p
a
p
e
r
p
re
se
n
ts
a
m
e
t
h
o
d
o
l
o
g
y
th
a
t
h
a
s
b
e
e
n
a
p
p
li
e
d
f
o
r
a
d
e
sig
n
m
e
c
h
a
n
is
m
f
o
r
e
n
e
rg
y
e
ff
icie
n
t
ro
b
o
ti
c
h
a
n
d
w
it
h
f
o
u
r
f
in
g
e
rs.
W
id
e
a
p
p
li
c
a
ti
o
n
s
o
f
g
rip
p
e
r
a
re
i
n
a
u
t
o
m
o
b
il
e
in
d
u
stries
.
A
u
to
m
o
b
il
e
c
o
m
p
a
n
ies
a
re
u
se
d
g
ri
p
e
rs an
d
se
rial
m
a
n
ip
u
lato
rs i
n
p
len
ty
.
K
ey
w
o
r
d
:
Fin
g
er
,
E
n
er
g
y
Dex
ter
o
u
s
,
W
o
r
m
g
ea
r
Gen
e
v
a
m
ec
h
an
is
m
Co
p
y
rig
h
t
©
201
6
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
B
h
iv
r
aj
Su
t
h
ar
,
Dep
ar
te
m
en
t
o
f
Me
ch
a
n
ical
E
n
g
i
n
ee
r
i
n
g
,
I
n
d
ian
I
n
s
tit
u
te
o
f
T
ec
h
n
o
lo
g
y
Delh
i,
I
n
d
ia
E
m
ail:
b
h
iv
r
aj
.
iitd
@
g
m
ai
l.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
O
n
e
ch
a
llen
g
e
i
n
au
to
m
ati
n
g
t
h
e
ite
m
p
ick
i
n
g
is
t
h
at
t
h
e
o
b
jects to
b
e
d
ea
lt
w
it
h
ca
n
b
e
o
f
an
y
s
h
ap
e,
s
o
tailo
r
in
g
th
e
g
r
ip
p
er
to
a
s
p
ec
if
ic
o
b
j
ec
t
is
i
m
p
o
s
s
ib
le,
f
o
r
th
e
v
ar
ie
t
y
o
f
th
e
p
r
o
d
u
cts
s
to
r
ed
in
th
e
d
is
tr
ib
u
tio
n
ce
n
ter
d
ep
en
d
s
o
n
th
e
m
ar
k
et
an
d
c
h
a
n
g
e
s
o
v
er
t
i
m
e.
I
f
t
h
e
o
b
j
ec
t to
b
e
d
ea
lt
with
is
b
o
x
-
l
ik
e,
th
e
v
ac
u
u
m
g
r
ip
p
er
is
p
r
o
b
a
b
ly
a
g
o
o
d
s
o
lu
tio
n
alr
ea
d
y
.
Ho
w
e
v
er
,
in
th
e
d
is
tr
ib
u
tio
n
ce
n
ter
s
o
m
eti
m
es
t
h
e
o
b
j
ec
t
d
o
es c
o
n
tain
n
o
f
lat
s
u
r
f
ac
e
s
.
T
o
h
an
d
le
th
o
s
e
o
b
j
ec
ts
,
th
e
d
ex
ter
o
u
s
r
o
b
o
tic
g
r
i
p
p
er
s
w
h
ic
h
ar
e
ab
le
to
h
a
n
d
le
d
iv
er
s
e
o
b
j
ec
ts
,
lik
e
th
e
R
o
b
o
n
au
t
Han
d
[
2
]
,
o
r
th
e
Go
ld
f
in
g
er
[
3
]
,
ar
e
p
o
s
s
ib
le
s
o
lu
tio
n
s
.
Ho
w
e
v
er
th
i
s
k
i
n
d
o
f
g
r
ip
p
er
s
is
ex
p
e
n
s
i
v
e
b
ec
au
s
e
a
co
n
s
id
er
ab
le
am
o
u
n
t
o
f
ac
tu
ato
r
s
an
d
s
e
n
s
o
r
s
a
r
e
in
v
o
l
v
ed
an
d
a
s
o
p
h
is
ticated
c
o
n
tr
o
l is
n
ee
d
e
d
.
T
h
e
ex
is
ti
n
g
u
n
d
er
ac
tu
ated
g
r
ip
p
er
s
,
h
o
w
e
v
er
,
ar
e
o
v
er
d
es
ig
n
ed
f
o
r
h
av
in
g
t
h
e
ad
ap
tab
i
lit
y
.
Fo
r
1
DO
A
,
th
e
g
r
ip
p
er
o
f
2
DO
F
ca
n
alr
ea
d
y
e
x
h
ib
it
t
h
e
ad
a
p
tab
ilit
y
,
w
h
ile
a
m
o
n
g
t
h
e
g
r
ip
p
er
s
lis
ted
in
th
e
liter
atu
r
e
[
5
]
it
is
f
o
u
n
d
th
at
th
e
DOF
t
h
e
y
o
w
n
ar
e
all
m
o
r
e
t
h
an
e
n
o
u
g
h
.
T
h
e
b
en
ef
it
o
f
h
av
i
n
g
m
a
n
y
ex
ce
ed
in
g
DOF
is
t
h
at
t
h
e
u
n
d
er
ac
tu
ated
g
r
ip
p
er
m
ig
h
t
b
e
ab
le
to
a
d
ap
t
to
an
o
b
j
ec
t
m
o
r
e
th
o
r
o
u
g
h
l
y
,
b
u
t
th
er
e
ar
e
t
w
o
r
ea
s
o
n
s
f
o
r
b
etter
k
ee
p
in
g
th
e
d
e
g
r
ee
s
o
f
u
n
d
er
a
ctu
atio
n
s
m
a
ll.
First
l
y
,
t
h
e
co
m
p
le
x
it
y
o
f
th
e
an
al
y
s
is
o
f
t
h
e
u
n
d
er
ac
t
u
ated
g
r
ip
p
er
s
d
r
am
a
ticall
y
i
n
cr
ea
s
e
s
w
it
h
r
esp
ec
t
to
in
cr
ea
s
e
o
f
t
h
e
DOU
b
ec
au
s
e
o
f
th
e
p
ass
i
v
it
y
o
f
t
h
e
u
n
d
er
ac
tu
ated
f
i
n
g
er
s
[
6
]
.
Ho
w
e
v
er
,
a
ca
r
ef
u
l
an
a
l
y
s
is
o
n
t
h
e
u
n
d
er
ac
tu
ated
g
r
ip
p
er
in
th
e
d
esi
g
n
p
h
a
s
e
i
s
i
n
d
is
p
e
n
s
ab
le
b
ec
au
s
e
t
h
e
s
u
cc
e
s
s
o
f
t
h
e
u
n
d
er
ac
t
u
ated
g
r
asp
in
g
is
n
o
t
a
l
w
a
y
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
1
,
Ma
r
ch
2
0
1
6
:
1
–
5
2
g
u
ar
a
n
teed
.
Seco
n
d
l
y
,
i
f
t
h
e
g
r
ip
p
er
co
n
tain
in
g
a
s
m
all
n
u
m
b
er
o
f
d
eg
r
ee
s
o
f
u
n
d
er
ac
tu
ati
o
n
is
ab
le
to
d
o
th
e
ite
m
p
ick
in
g
w
ell,
a
m
o
r
e
co
m
p
lex
u
n
d
er
ac
tu
ated
g
r
ip
p
er
w
i
ll b
e
u
n
n
ec
ess
ar
y
.
T
o
h
av
e
a
v
er
y
s
i
m
p
li
f
ied
u
n
d
er
ac
tu
ated
g
r
ip
p
er
,
it
is
p
r
o
p
o
s
ed
t
h
at
t
h
e
g
r
ip
p
er
is
f
o
r
m
ed
b
y
f
o
u
r
f
i
n
g
er
i
n
o
p
p
o
s
itio
n
to
o
n
e
u
n
d
er
ac
tu
ated
f
in
g
er
w
h
ic
h
h
as
t
w
o
p
h
ala
n
g
es
.
t
h
e
tar
g
et
o
b
j
e
ct
is
laid
in
t
h
e
to
te
w
h
ic
h
h
a
s
an
u
p
w
ar
d
o
p
en
in
g
,
th
e
i
te
m
p
ic
k
i
n
g
s
h
o
u
ld
b
e
co
n
d
u
cted
f
r
o
m
th
e
to
p
o
f
th
e
o
b
j
ec
t.
I
n
th
i
s
s
itu
a
tio
n
t
h
e
o
n
l
y
m
o
v
i
n
g
f
i
n
g
er
,
t
h
e
u
n
d
er
ac
tu
ated
f
in
g
er
,
m
i
g
h
t
m
is
s
th
e
o
b
j
ec
t
an
d
ca
n
n
o
t
p
ick
it
u
p
ac
co
r
d
in
g
to
th
e
g
eo
m
etr
y
.
T
o
p
r
ev
en
t
it,
th
er
ef
o
r
e
in
ad
d
it
io
n
to
th
e
co
n
ce
p
t
o
f
f
ix
ed
f
i
n
g
er
,
in
a
f
r
ee
g
r
asp
th
e
f
i
n
g
er
tip
o
f
th
e
u
n
d
er
ac
tu
ated
f
i
n
g
er
is
i
n
te
n
d
ed
to
m
o
v
e
alo
n
g
t
h
e
p
lan
e
s
u
r
f
ac
e
w
h
er
e
th
e
o
b
j
ec
t
is
l
y
i
n
g
,
s
o
t
h
at
t
h
e
m
o
s
t d
i
s
tal
p
h
alan
x
i
s
al
w
a
y
s
ab
le
to
r
ea
ch
an
d
s
h
o
v
el
th
e
o
b
j
ec
t u
p
b
y
g
o
in
g
u
n
d
er
it.
Ob
j
ec
tiv
e
an
d
A
p
p
r
o
ac
h
T
h
e
o
b
j
ec
tiv
e
o
f
th
i
s
p
ap
er
is
to
as
s
ess
t
h
e
w
o
r
k
ab
ilit
y
a
n
d
th
e
p
er
f
o
r
m
an
c
e
o
f
th
e
g
r
ip
p
er
w
ith
th
e
p
r
o
p
o
s
ed
co
n
ce
p
ts
o
n
t
h
e
ite
m
p
ic
k
i
n
g
.
T
o
ap
p
r
o
ac
h
th
e
o
b
j
ec
tiv
e,
a
g
r
ip
p
er
is
to
b
e
d
esig
n
ed
,
b
u
ilt,
an
d
test
ed
w
it
h
th
e
co
n
s
id
er
atio
n
o
f
t
h
e
f
o
ll
o
w
i
n
g
t
w
o
s
p
ec
i
f
ic
ta
s
k
s
:
(
a)
T
h
e
g
r
ip
p
er
h
as
to
p
ick
a
cy
l
in
d
r
ical
o
b
j
ec
t
in
itiall
y
l
y
i
n
g
o
n
t
h
e
g
r
o
u
n
d
o
n
l
y
o
n
e
tar
g
et
o
b
j
ec
t
is
co
n
s
id
er
ed
in
o
n
e
g
r
asp
ac
ti
o
n
,
an
d
th
e
g
r
o
u
n
d
is
m
ea
n
t
to
b
e
a
p
lan
e
s
u
r
f
ac
e.
T
h
e
c
y
li
n
d
r
ical
o
b
j
ec
t
is
ch
o
s
en
b
ec
au
s
e
it
h
as
th
e
s
i
m
p
lest
f
o
r
m
o
u
t o
f
t
h
e
n
o
n
-
box
-
lik
e
ite
m
s
;
it c
a
n
b
e
m
o
d
eled
b
y
o
n
l
y
o
n
e
v
ar
iab
le
in
a
p
la
n
ar
ca
s
e.
I
n
it
iall
y
,
th
e
c
y
li
n
d
r
ical
o
b
j
ec
t
is
at
r
est
w
it
h
an
o
r
ien
tatio
n
t
h
at
it
s
ce
n
tr
a
l
ax
i
s
is
p
ar
allel
t
o
g
r
o
u
n
d
.
(
b
)
T
h
e
g
r
ip
p
er
h
as
to
r
etai
n
t
h
e
g
r
a
s
p
o
n
t
h
e
o
b
j
ec
t
w
h
e
n
t
h
e
g
r
a
s
p
is
u
n
d
er
g
o
i
n
g
a
li
f
ti
n
g
ac
ce
ler
atio
n
t
h
e
g
r
asp
is
d
is
t
u
r
b
ed
in
th
e
ite
m
p
ick
in
g
w
h
en
t
h
e
g
r
ip
p
er
to
g
e
th
er
w
ith
t
h
e
g
r
asp
ed
o
b
j
ec
t
i
s
in
tr
an
s
p
o
r
tatio
n
.
T
h
e
d
is
tu
r
b
an
ce
in
tr
o
d
u
ce
d
b
y
a
l
if
t
in
g
tr
an
s
p
o
r
ta
tio
n
s
e
e
m
s
to
b
e
th
e
w
o
r
s
t
ca
s
e
s
c
en
ar
io
b
ec
au
s
e
t
h
e
o
p
en
in
g
o
f
th
e
g
r
ip
p
er
is
d
o
w
n
w
ar
d
.
2.
M
E
CH
ANICAL
D
E
SI
G
N
O
F
RO
B
O
T
I
C
H
AND
2
.
1
.
Desig
n o
f
F
o
ur
F
ing
er
A
m
ec
h
an
ica
l
m
o
d
el,
f
o
r
m
u
la
te
d
b
ased
o
n
th
e
o
b
s
er
v
atio
n
o
f
o
u
r
h
a
n
d
m
o
tio
n
.
I
t
h
a
s
g
en
e
r
all
y
f
o
u
r
s
eg
m
e
n
ts
o
f
b
o
d
y
an
d
p
er
f
o
r
m
th
e
g
r
ip
p
in
g
w
ith
t
h
e
h
elp
o
f
f
o
u
r
f
i
n
g
er
s
.
T
h
e
en
tire
b
o
d
y
o
f
th
e
r
o
b
o
t
an
d
th
e
g
r
ip
p
er
s
ca
n
b
e
m
o
d
eled
as
i
n
ch
w
o
r
m
m
ec
h
an
i
s
m
an
d
w
o
r
m
g
ea
r
.
W
h
en
th
a
t
r
o
b
o
tic
h
an
d
p
ick
a
n
y
o
b
j
ec
t
th
an
ac
t
io
n
an
d
r
ea
ctio
n
f
o
r
ce
s
ap
p
ea
r
o
n
ea
c
h
f
i
n
g
er
as s
h
o
w
n
i
n
f
i
g
u
r
e
1
b
elo
w
.
Fig
u
r
e
1
.
Fo
r
ce
s
o
n
t
w
o
f
in
g
er
in
r
o
b
o
tic
h
an
d
T
h
e
lin
k
s
w
o
u
ld
h
a
v
e
to
r
o
tate
ab
o
u
t
th
e
ce
n
tr
al
j
o
in
t
w
h
er
e
th
e
s
er
v
o
is
co
n
n
ec
ted
in
o
r
d
er
to
clo
s
e
th
e
f
o
r
e
g
r
ip
p
er
.
No
t
o
n
l
y
th
at
,
w
e
w
o
u
ld
n
ee
d
to
co
n
tr
o
l
th
e
ex
ten
s
io
n
an
d
co
n
tr
ac
tio
n
o
f
th
e
tr
u
n
k
/s
e
g
m
e
n
t
also
b
y
u
s
in
g
s
a
m
e
D
C
m
o
to
r
.
2
.
2
.
Desig
n o
f
G
ripper
s
T
h
e
d
esig
n
o
f
th
e
g
r
ip
p
er
is
a
n
es
s
e
n
tial
p
ar
t
o
f
t
h
e
r
o
b
o
tic
h
an
d
g
r
ip
p
er
.
Du
r
i
n
g
th
e
p
ick
in
g
,
f
in
g
er
h
as
to
b
ea
r
th
e
e
n
tire
w
ei
g
h
t
o
f
th
e
p
a
y
lo
ad
o
r
o
b
j
e
ct.
T
h
i
s
,
is
t
h
e
m
ai
n
co
n
s
id
er
atio
n
f
o
r
th
e
d
esig
n
o
f
t
h
e
g
r
ip
p
er
.
T
h
e
g
r
ip
p
in
g
m
ec
h
a
n
i
s
m
o
p
er
a
ted
b
y
t
h
e
s
a
m
e
D
C
m
o
to
r
.
T
h
e
f
o
u
r
f
in
g
er
s
o
f
g
r
i
p
p
er
,
ar
e
co
n
n
ec
ted
w
it
h
o
n
e
D
C
m
o
to
r
an
d
f
e
w
li
n
k
s
as s
h
o
w
n
i
n
f
i
g
u
r
e
3
.
2
.
3
.
Co
m
p
let
e
Desig
n
T
h
e
d
esig
n
o
f
th
e
r
o
b
o
tic
h
a
n
d
b
ased
o
n
i
n
ch
w
o
r
m
m
ec
h
an
i
s
m
a
n
d
f
o
u
r
f
i
n
g
er
co
m
p
letes
th
e
m
ec
h
a
n
ical
d
es
ig
n
.
Fi
g
u
r
e
2
,
b
elo
w
,
s
h
o
w
s
t
h
e
co
m
p
lete
d
esi
g
n
w
i
th
t
h
e
g
r
ip
p
er
w
ith
f
o
r
ce
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
o
f
E
n
erg
y
E
fficien
ct
F
o
u
r
F
in
g
e
r
R
o
b
o
tic
Ha
n
d
(
B
h
u
r
a
j S
u
th
a
r
)
3
Fig
u
r
e
2
. C
o
m
p
lete
C
AD
d
esi
g
n
o
f
f
o
u
r
f
i
n
g
er
r
o
b
o
tic
h
an
d
3.
G
RIP
E
R
AN
AL
Y
SI
S
Fig
u
r
e
3
.
T
h
e
Kin
e
m
atic
a
n
al
y
s
is
f
o
r
v
er
if
y
i
n
g
t
h
e
r
elatio
n
b
et
w
ee
n
t
h
e
r
o
b
o
t size
an
d
r
o
p
e
cu
r
v
at
u
r
e
2
2
2
2
3
t
a
n
C
o
s
X
S
i
n
R
R
(
1
)
Ass
u
m
in
g
X
is
co
n
s
ta
n
t
a
n
d
d
if
f
er
en
tiat
in
g
w
it
h
r
esp
ec
t to
tim
e
2
2
2
2
2
2
3
2
2
1
1
Cos
X
Cos
X
R
R
X
R
(
2
)
Dif
f
er
en
t
iati
n
g
w
i
th
r
esp
ec
t to
ti
m
e
ag
a
in
2
2
2
2
2
1
2
2
1
2
2
2
2
2
3
Cos
R
X
R
X
R
X
R
Si
n
X
(
3
)
W
h
er
e
α
is
ac
ce
ler
atio
n
o
f
f
i
n
g
er
.
E
ac
h
f
i
n
g
er
h
as
s
a
m
e
ac
ce
ler
atio
n
.
B
u
t
w
e
u
s
ed
o
n
l
y
o
n
e
m
o
to
r
to
p
r
o
d
u
ce
id
en
tical
ac
ce
ler
atio
n
at
ea
ch
f
i
n
g
er
o
f
r
o
b
o
tic
h
a
n
d
.
Ou
r
p
r
o
p
o
s
ed
r
o
b
o
tic
h
an
d
is
s
y
m
m
etr
ical
ab
o
u
t
ce
n
ter
a
x
is
o
f
p
a
m
o
f
h
a
n
d
.
Sh
ap
e
is
al
s
o
r
esp
o
n
s
ib
le
f
o
r
ef
f
ec
tiv
e
p
ic
k
an
d
p
lace
o
p
er
atio
n
.
A
lt
h
o
u
g
h
i
n
m
ar
k
e
t
v
ar
io
u
s
t
y
p
e
o
f
r
o
b
o
tic
h
a
n
d
av
a
ilab
l
e
b
u
t
all
h
a
v
e
m
o
r
e
th
a
n
o
n
e
m
o
to
r
to
o
p
er
ate
all
f
i
n
g
er
s
.
A
b
o
v
e
e
q
u
atio
n
s
h
o
w
s
t
h
at
ea
ch
f
o
r
ce
at
ea
c
h
f
i
n
g
er
i
s
d
ir
ec
tl
y
p
r
o
p
o
r
tio
n
al
to
th
e
ac
ce
ler
atio
n
.
W
e
p
lace
d
D
C
m
o
to
r
co
n
n
ec
t
to
d
is
c
w
it
h
w
o
r
m
g
ea
r
ar
r
an
g
e
m
en
t.
T
h
e
b
est
ad
v
an
ta
g
e
o
f
w
o
r
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
1
,
Ma
r
ch
2
0
1
6
:
1
–
5
4
g
ea
r
is
s
elf
-
lo
c
k
in
g
.
T
h
is
n
o
v
e
l
d
esig
n
d
o
es
n
o
t
n
ee
d
an
y
lo
c
k
in
g
m
ec
h
an
i
s
m
a
f
ter
p
ick
i
n
g
o
p
er
atio
n
b
ec
au
s
e
th
is
w
o
r
m
g
ea
r
p
r
o
v
id
e
s
elf
-
lo
ck
in
g
.
3
.
1
.
Ro
bo
t
G
ripper
Sizi
ng
T
h
e
f
o
u
r
f
i
n
g
er
m
o
v
e
b
y
o
n
e
DC
m
o
to
r
an
d
f
i
g
u
r
e
4
s
h
o
w
s
th
e
ac
ti
n
g
f
o
r
ce
s
i
n
v
ec
to
r
f
o
r
m
.
B
o
th
an
g
le
s
w
il
l
ch
a
n
g
e
b
y
t
h
e
D
C
m
o
to
r
,
d
u
r
in
g
t
h
is
m
o
tio
n
wo
r
m
g
ea
r
m
ec
h
a
n
is
m
p
la
y
a
m
ai
n
r
o
le.
I
n
ab
o
v
e
s
ec
tio
n
w
e
s
et
u
p
a
r
elatio
n
b
et
w
ee
n
b
o
th
an
g
les.
T
h
e
m
ax
i
m
u
m
o
p
en
i
n
g
o
f
th
e
g
r
ip
p
er
is
1
0
cm
an
d
m
i
n
i
m
u
m
o
p
en
i
n
g
i
s
2
c
m
.
s
o
p
ay
lo
ad
la
y
i
n
g
b
et
w
ee
n
t
h
i
s
r
an
g
e
s
f
o
r
ef
f
ec
ti
v
e
g
r
ip
p
in
g
.
4.
P
RO
T
O
T
YP
E
DE
SI
G
N
4
.
1
.
P
r
o
t
o
T
y
pe
I
nch Wo
r
m
M
ec
ha
nis
m
T
e
s
t
ing
T
h
e
r
o
b
o
t’
s
b
o
d
ies
ar
e
m
ad
e
o
f
w
o
o
d
en
to
r
ed
u
ce
th
e
w
ei
g
h
t,
an
d
th
e
cr
an
k
an
d
j
o
in
ts
ar
e
m
ad
e.
I
t
h
as o
n
e
m
o
to
r
an
d
r
esp
o
n
s
ib
le
f
o
r
all
f
o
u
r
f
in
g
er
m
o
tio
n
s
h
o
w
n
i
n
f
i
g
u
r
e
5
.
Fig
u
r
e
4
.
Fo
u
r
f
i
n
g
er
s
w
i
th
v
e
cto
r
f
o
r
ce
s
Fig
u
r
e
5
.
P
r
o
t
o
ty
p
e
o
f
f
o
u
r
f
in
g
er
r
o
b
o
tic
h
an
d
4
.
2
.
Sp
ec
if
ica
t
io
n o
f
DC
m
o
t
o
r
T
ab
le
(
a)
E
lectr
ical
s
p
ec
if
icatio
n
T
ab
le
(
b
)
E
lectr
ical
s
p
ec
if
icati
o
n
Fig
u
r
e
6
.
Me
ch
an
ical
d
i
m
e
n
s
i
o
n
o
f
DC
m
o
to
r
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
o
f
E
n
erg
y
E
fficien
ct
F
o
u
r
F
in
g
e
r
R
o
b
o
tic
Ha
n
d
(
B
h
u
r
a
j S
u
th
a
r
)
5
Fig
u
r
e
7
.
1
2
V
DC
m
o
to
r
u
s
ed
in
f
o
u
r
f
i
n
g
er
r
o
b
o
tic
h
an
d
Fig
u
r
e
8
.
Me
ch
an
ical
d
r
a
w
i
n
g
o
f
DC
m
o
to
r
5.
F
UT
UR
E
WO
RK
AND
CO
NCLUS
I
O
N
I
n
th
is
p
ap
er
in
c
h
w
o
r
m
an
d
w
o
r
m
m
ec
h
a
n
is
m
b
ased
f
o
u
r
f
i
n
g
er
g
r
ip
p
er
h
as
b
ee
n
m
ad
e
an
d
test
e
d
f
o
r
th
e
p
ick
-
p
lace
o
p
er
atio
n
in
C
A
D
as
w
ell
as
p
r
o
to
t
y
p
e
als
o
.
R
o
tatio
n
o
f
d
is
c
h
as
attac
h
e
d
w
ith
f
o
u
r
f
i
n
g
er
s
v
ia
v
ar
io
u
s
li
n
k
s
w
h
ich
h
as r
e
v
o
lu
te
j
o
in
t o
n
l
y
.
T
h
is
d
esi
g
n
s
ch
e
m
e
r
ed
u
ce
s
t
h
e
co
n
s
u
m
p
ti
o
n
b
y
o
n
e
f
o
u
r
th
.
T
h
e
in
ch
w
o
r
m
a
n
d
w
o
r
m
m
o
tio
n
w
a
s
s
t
u
d
ied
in
d
etail.
C
A
D
m
o
d
el,
p
r
o
to
ty
p
e
m
o
d
el
an
d
a
k
in
e
m
at
ic
m
o
d
el
w
er
e
m
ad
e.
I
n
k
i
n
e
m
atic
s
an
al
y
s
is
s
et
u
p
a
m
at
h
e
m
a
tical
r
elatio
n
f
o
r
g
r
ip
p
er
.
W
e
ca
lcu
lated
ac
ce
ler
atio
n
o
f
ea
ch
f
i
n
g
er
.
M
ath
e
m
atica
l e
x
p
r
ess
io
n
w
a
s
s
e
tu
p
.
A
co
n
tr
o
l
s
y
s
te
m
f
o
r
w
h
o
le
g
r
ip
p
er
w
ill
d
esi
g
n
i
n
f
u
t
u
r
e
s
u
c
h
th
at
t
h
e
g
r
ip
p
er
an
d
th
e
s
eg
m
en
t
s
w
h
e
n
o
p
er
ate
i
n
co
o
r
d
in
atio
n
w
o
u
ld
s
i
m
u
late
t
h
e
p
ic
k
&
p
l
ac
e
o
p
er
atio
n
.
I
f
th
e
h
in
g
e
j
o
in
ts
i
n
t
h
e
s
eg
m
e
n
t
s
o
f
th
e
r
o
b
o
t
w
er
e
r
ep
lace
d
b
y
b
all
-
an
d
-
s
o
ck
et
j
o
in
ts
,
t
h
en
t
h
e
r
o
b
o
t
w
o
u
ld
h
av
e
m
u
ch
m
o
r
e
f
lex
ib
ilit
y
a
n
d
s
m
o
o
th
o
p
er
atio
n
.
ACK
NO
WL
E
D
G
M
E
NT
T
h
an
k
s
f
o
r
Mr
.
B
al
k
is
h
a
n
S
u
th
ar
an
d
ar
e
d
u
e
to
al
l
t
h
e
p
eo
p
le
an
d
th
i
n
g
s
t
h
at
h
a
v
e
d
ir
ec
tl
y
o
r
in
d
ir
ec
tl
y
i
n
f
l
u
en
c
ed
m
e
an
d
h
elp
ed
m
e
d
u
r
i
n
g
th
e
d
esi
g
n
an
d
m
a
n
u
f
ac
tu
r
i
n
g
o
f
f
o
u
r
f
i
n
g
er
r
o
b
o
tic
h
an
d
.
P
AT
E
N
T
B
h
iv
r
aj
Su
t
h
ar
an
d
Nid
h
i
S
in
d
h
u
“
Desig
n
o
f
f
o
ur
f
ing
er
ha
nd
”
P
r
o
v
is
io
n
all
y
p
a
ten
t
f
iled
,
A
p
p
licatio
n
n
o
-
4
0
9
/DE
L
/2
0
1
5
.
RE
F
E
R
E
NC
E
S
[1
]
V
a
n
d
e
rlan
d
e
I
n
d
u
stries
:
Distrib
u
t
io
n
,
h
tt
p
:/
/w
ww
.
v
a
n
d
e
rlan
d
e
.
c
o
m
/w
e
b
/p
ro
d
u
c
ts
-
a
n
d
-
so
lu
ti
o
n
s.
h
tm
,
2
0
1
0
.
[2
]
M
.
A
.
Dif
tl
e
r
a
n
d
R.
O.
Am
b
ro
se
,
“
Ro
b
o
n
a
u
t:
A
Ro
b
o
ti
c
Astro
n
a
u
t
Assista
n
t
,
”
P
ro
c
e
e
d
in
g
s
o
f
th
e
6
th
In
ter
n
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
A
rti
f
icia
l
In
telli
g
e
n
c
e
a
n
d
R
o
b
o
ti
c
s
a
n
d
A
u
to
m
a
ti
o
n
in
S
p
a
c
e
,
Ca
n
a
d
ian
S
p
a
c
e
A
g
e
n
c
y
,
2
0
0
1
.
[3
]
A
.
M
.
Ra
m
o
s,
I.
A
.
G
r
a
v
a
g
n
e
,
a
n
d
I.
D.
W
a
lk
e
r,
“
G
o
ld
f
in
g
e
r:
A
No
n
-
A
n
th
ro
p
o
m
o
rp
h
ic,
De
x
tro
u
s
Ro
b
o
t
Ha
n
d
,
”
P
r
o
c
e
e
d
in
g
s o
f
th
e
1
9
9
9
IE
EE
I
n
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ro
b
o
ti
c
s a
n
d
Au
to
ma
ti
o
n
,
p
p
.
9
1
3
-
9
1
9
,
1
9
9
9
.
[4
]
Y.
Ch
a
n
g
,
“
Un
d
e
ra
c
tu
a
ted
G
rip
p
e
rs
f
o
r
Distrib
u
ti
o
n
Ce
n
ters
:
Ev
a
lu
a
ti
o
n
a
n
d
Re
c
o
m
m
e
n
d
a
ti
o
n
,
”
L
it
e
ra
tu
re
Re
p
o
rt
,
De
lf
t
Un
iv
e
rsit
y
o
f
Tec
h
n
o
lo
g
y
,
2
0
0
9
.
[5
]
L
.
Birg
len
,
“
An
In
tro
d
u
c
ti
o
n
t
o
t
h
e
An
a
lys
is
o
f
L
in
k
a
g
e
-
d
riv
e
n
C
o
mp
li
a
n
t
Un
d
e
ra
c
tu
a
ted
Fi
n
g
e
rs
,
”
P
ro
c
e
e
d
in
g
s
o
f
A
S
M
E
2
0
0
6
I
n
tern
a
ti
o
n
a
l
De
sig
n
En
g
in
e
e
rin
g
T
e
c
h
n
ica
l
Co
n
f
e
re
n
c
e
s,
DET
C2
0
0
6
-
9
9
0
4
8
,
p
p
.
1
-
9
,
2
0
0
6
.
[6
]
V
.
Bé
g
o
c
,
S
.
Kru
t,
E.
Do
m
b
re
,
C.
Du
ra
n
d
a
n
d
F
.
P
ierr
o
t,
“
M
e
c
h
a
n
ica
l
De
sig
n
o
f
a
Ne
w
P
n
e
u
m
a
ti
c
a
ll
y
Dri
v
e
n
Un
d
e
ra
c
tu
a
ted
Ha
n
d
,
”
P
r
o
c
e
e
d
in
g
s
o
f
th
e
2
0
0
7
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
R
o
b
o
ti
c
s
a
n
d
Au
to
m
a
ti
o
n
,
p
p
.
927
-
9
3
3
,
2
0
0
7
Evaluation Warning : The document was created with Spire.PDF for Python.