In this paper, we propose a starfish capturing four-bar based manipulator for an � derwater � obotic platform. The manipulator is composed of six links, two torsion sprin � s, and one moto : . The model IS parametenzed to link lengths and spring constants, and we solve kinematics and dynamIcs to ? et the trajectory of the en�-effector of the manipulator. Capturing stroke, the distance while the end-effector keeps III contact . to th � ground, IS used for the objective function to increase capturing capacity. …
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