The basic idea is to temporarily underactuate the robot system by releasing one of the actuators and to use some additional driving force to guide the parallel kinematic structure through the singularity of type 2.
Source: wiktionary
Underactuate
Synonyms for "underactuate"
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Sample sentences
3 total sentences available.
Figure 10 refers to a first design for underactuating the LARM finger mechanism by using a linear spring within the body of phalanx 2, [17].
Source: wiktionary
A four-bar mechanism (Fig.2) is used to underactuate the fingers so that they can automatically adapt to the shape and size of the object and be less sensitive to positioning errors of the robot relative to the object to grasp.
Source: wiktionary
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Data sourced from Wiktionary, WordNet, CMU, and other open linguistic databases. Updated March 2026.