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The low spin states of 138 Nd have been reinvestigated via the 124 Te( 19 F,4n1p) reaction at a beam energy of 103 MeV. The quasi-one-phonon γ -vibrational band based on the 1013.7 keV level has been expanded and the quasi-two-phonon γ -vibrational band built on the 1842.7 keV level has been proposed. A systematic comparison supports our assignments for multiphonon γ -vibrational bands in 138 Nd. The characteristics of γ softness in 138 Nd have been discussed. Triaxial projected shell model calculations can well describe the rotational feature of the bands, but they fail to reproduce simultaneously the bandhead energies of the two γ -vibrational bands if a fixed triaxial deformation is assumed.

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Hua( ) 3,2;1) SUN Hui-Bin()XU Chuan( ) 5 WANG Jian-Guo( ) 6 GU Long( ) 6

This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.