In the kinematic synthesis of multi-fingered robotic hands for a specific
task, the selection of the hand topology is an important step. Considerable research
efforts have been directed to the structural synthesis of hand topologies for satis fying grasping and manipulation metrics such as mobility and force closure. In this
work, we develop a structural synthesis, isomorphism-free enumeration method that
combines the solvability for rigid-body guidance with the grasping and manipula tion metrics, for general hands with a tree structure. An algorithmic implementation
of the methodology is presented and illustrated with validation examples.
