This article analyzes and designs the transmission structure for underactuated compliant mechanisms (UCMs). The transmission structure of UCMs consists of serial and parallel transmission chains. At first, the UCMs are classified systematically according to the number and distribution of the serial and parallel transmissions. Next, the active and passive transmission properties of motion and force in UCMs are analyzed on the defined four subspaces of tangent and cotangent spaces of joint space. Synthesizing the classification and the transmission properties of UCMs, the congruent relationship between mechanical structure and transmission function is established, and different cases of UCMs are discussed and compared. A novel type of UCMs can achieve the independent regulation of passive stiffness, active force, and active motion that is useful for improving the transmission performance in robotic and prosthetic hands. Finally, a functional oriented design method is proposed and used to design a single-actuator two-fingered gripper for enveloping and precision grasps. The results demonstrate the validity of the proposed method.

中文翻译：

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基于运动和力传递特性的欠驱动柔顺机构分析与综合

本文分析和设计欠驱动柔顺机构（UCMs）的传动结构。UCM 的传输结构由串行和并行传输链组成。首先，根据串行和并行传输的数量和分布对UCM进行系统分类。接下来，在定义的关节空间切线和余切空间的四个子空间上分析了 UCM 中运动和力的主动和被动传递特性。综合UCMs的分类和传递特性，建立了机械结构与传递函数的全等关系，并对UCMs的不同情况进行了讨论和比较。一种新型UCMs可以实现被动刚度、主动力、和主动运动，可用于提高机器人和假肢手的传输性能。最后，提出了一种面向功能的设计方法，并用于设计用于包络和精确抓取的单致动器双指抓手。结果证明了所提出方法的有效性。