Fig. 1 Hybrid six-bar mechanism with non-circular gear constraints More

Fig. 2 Non-circular gear pitch curve of secondary transmission More

Fig. 3 Process of optimum synthesis More

Fig. 4 Process of transplanting pot seedlings More

Fig. 5 Pareto front of objective functions f 1 and f 2 More

Fig. 6 Results of the preliminary solution More

Fig. 7 Results before and after optimization: ( a ) curves of function f ( θ in ), ( b ) curves of function g ( τ mid ), ( c ) curves of function g ( f ( θ in )), and ( d ) transmission ratio curves More

Fig. 8 Non-circular gear pitch curves before and after optimization: ( a ) first-stage non-circular gears, ( b ) second-stage non-circular gears More

Fig. 9 Poses of clamping device before and after optimization More

Fig. 10 Tooth profiles of non-circular gears: ( a ) first-stage non-circular gears and ( b ) second-stage non-circular gears More

Fig. 11 Simulation models: ( a ) mechanism in the first pose, ( b ) mechanism in the fourth pose, and ( c ) mechanism in the eleventh pose More

Fig. 12 The comparison between desired poses, optimization, and simulation results: ( a ) angle curves of the end effector, ( b ) trajectory curves of the end effector More

Fig. 13 Error of angle and position in theory and simulation More

Fig. 1 Multi-fingered grasper: ( a ) prototype of the grasper, ( b ) grasping experiment of grasper, ( c ) 3D model of a finger, and ( d ) 3D model of the grasper More

Fig. 2 ( a ) Eight-link mechanism, ( b ) schematic diagram of a single knuckle, ( c ) schematic diagram of two adjacent knuckles, and ( d ) 3D model of two adjacent knuckles More