Kinematic Analysis for The Novel Parallel Three Fingers

The novel parallel three fingers are proposed which are composed of a 4-DOF parallel manipulator with composite spherical joints and three fingers. First, the 3D model of the mechanism is constructed by advanced CAD software. Second, the kinematics formulae for the 4-DOF parallel manipulator and finger are derived. The correctness of the kinematic model for the mechanism is verified. Third, the physical prototype of the parallel three fingers are constructed, and grasping experiment was carried out, that provide technical foundations for its application.