Table 2.

Nomenclature of the Gripper System

Nomenclature of the gripper system
L	Distance between joint A and joint B
R	Distance between joint C and joint B
l	Distance between joint C (joint E) and joint D (joint F)
$r_{c2}$	Distance between the mass center C2 of Link 2 and joint A
$r_{c3}$	Distance between the mass center C3 of Link 3 and joint C
$r_{c4}$	Distance between the mass center C4 of Link 4 and joint E
s	Distance between the mass center C5 of Link 5 and joint D along x-axis direction
h	Distance between the mass center C5 of Link 5 and joint D along y-axis direction
$\left(x_C,y_C\right)$	Coordinate of joint C (fixed)
$\left(x_E,y_E\right)$	Coordinate of joint E (fixed)
$\left(x_{C_i},y_{C_i}\right)$	Coordinate of the mass center Ci
y	Displacement of antagonistic bellow actuator (slider) along y-axis direction
$\alpha$	Angle between vector AB and the positive y-axis
$\theta$	Angle between vector CB and the positive y-axis (angle position of Link 3)
${\theta }_0$	Angle between vector CD and vector CB (fixed)
${\beta }_0$	Angle between vector CD and vector CC3 (fixed)
xf	Position of right fingertip in x-axis
mi	Mass of Link $i,i=1,2,\dots ,5$
Ii	Moment of inertia of Link i about the axis through the mass center perpendicular to oxy plane, $i=2,3,4$
P1	Pressure of active bellow chamber
P2	Pressure of passive bellow chamber
Fa	Actuation force of antagonistic bellow actuator induced by the pressure differential
Fe	External force (contact force) acting on Link 5 (Link 5’) along x-axis direction