A multiobjective optimization of hand prosthesis four-bar mechanisms is performed with reference to seven positions and with respect to five design criteria. Optimum dimensions are first obtained assuming there are no dimensional tolerances or clearances. Considering mechanical error due to manufacturing imprecision, optimum values of both tolerances and clearances are then obtained. It is shown that the inclusion of drive systems in the optimization of mechanisms can significantly increase the transmission angle and the mechanical advantage and reduce angular accelerations and optimal values of maximum driving torque and those of energy consumed over a cycle of mechanisms' closure.
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