Kinematic synthesis using tree topologies

Edgar Simo Serra, Alba Perez-Gracia

Research output: Contribution to journalArticle

13 Citations (Scopus)


This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.

Original languageEnglish
Pages (from-to)94-113
Number of pages20
JournalMechanism and Machine Theory
Publication statusPublished - 2014
Externally publishedYes



  • Graph theory
  • Kinematic synthesis
  • Tree articulated systems

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Computer Science Applications
  • Bioengineering

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