Table 2.

Mechanism structural design constraints

Dimension(s)	Bounds (mm)	Purpose
G x , G1,x	{−76.2, 25.4}	Keep fixed pivots located behind wrist/hand.
G y , G1,y	{−10.2, 2.54}	Keep fixed pivots located behind wrist/hand.
d1 − 7	{1.91, 12.7}	Min. distance to manufacture joints, keep mechanism compact.
d8 − 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.
m2	{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.