Key points are not available for this paper at this time.
The design of an end effector under development at Pennsylvania University is reported. The rationale supporting this mechanism is explored, its geometry is described and experimental results from the first prototype are presented. The gripper has three fingers, one fixed with respect to the palm and the other two able to rotate synchronously about different points under the palm. Some ideas for future work are presented.>
Ulrich et al. (Mon,) studied this question.