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    Underactuated Linkage Design

    Hi! I am interested in building a kinematic model of an underactuated gripper. I would like to use this patent: https://patentimages.storage.googleapis.com/dd/0e/60/31f32bb3d87654/WO2013075245A1.pdf but change the actuation to a pneumatic piston, how would I modify the design so I can use it...

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