Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been developed and commissioned for industrial applications. This paper presents design of a rigid link finger operated by a minimum number of actuators, which may be suitable for a number of adaptive end effectors. The adaptive nature built into the end effector (due to limited number of actuators) presents considerable problems in grasping and control. The paper discusses the issues associated with such designs. The research can be applicable to any adaptive end effectors that are controlled by limited number of actuators and evaluates their suitability in industrial environments.ududud ud
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机译：对机器人抓握和操纵的研究已导致开发了大量基于肌腱的末端执行器。然而，许多被开发为研究工具，其在实验室环境中的应用受到限制。主要原因是该设计需要控制大量的执行器。由于篇幅和安全性要求，很少有针对工业应用的开发和调试。本文介绍了由最少数量的执行器操作的刚性链接指的设计，该执行器可能适用于许多自适应末端执行器。内置在末端执行器中的自适应特性（由于执行器数量有限）在抓取和控制方面存在相当大的问题。本文讨论了与此类设计相关的问题。该研究可应用于受有限数量的执行器控制的任何自适应端部执行器，并评估其在工业环境中的适用性。 ud ud ud ud
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