Table 2 Mechanism structural design constraints

G _x , G_1,x

{−76.2, 25.4}

Keep fixed pivots located behind wrist/hand.

G _y , G_1,y

{−10.2, 2.54}

Keep fixed pivots located behind wrist/hand.

d _1 − 7

{1.91, 12.7}

Min. distance to manufacture joints, keep mechanism compact.

d _8 − 11

{1.91, 7.62}

Min. distance to manufacture joints, keep mechanism compact.

m

{1.27, 12.7}

Min. distance to manufacture proximal phalanx end-effector, keep mechanism compact.

m ₂

{1.91, 12.7}

Min. distance to manufacture middle phalanx end-effector (including room for rotating joint), keep mechanism compact.

$\overline{\mathbf{G}{\mathbf{G}}_1}$, $\overline{\mathbf{PY}}$, ${\overline{\mathbf{HW}}}_1$, $\overline{{\mathbf{W}}_1{\mathbf{W}}_2}$, $\overline{{\mathbf{H}}_2\mathbf{Y}}$, $\overline{{\mathbf{H}}_2{\mathbf{Y}}_2}$, and $\overline{\mathbf{M}{\mathbf{Y}}_1}$

{1.91, 7.62}

Min. distance to manufacture joints, keep mechanism compact.