Abstract
The growing need in creating of anthropomorphic robots capable of operating beyond the industrial production is determined by a number of factors. Foremost, social need of systems, which allow performing actions in cooperation with a human or instead of him, in the infrastructure initially un-adapted to the robot. Interaction with external objects is possible by creating considerable force on their surface. One option is using of lever mechanisms in a motion transmission system. The need of compliance with outer dimensions requirements of anthropomorphic grippers determines the use of group actuator and link gear with an internal input. A graphical research method — “velocity vector diagram”, adapted to the specifics of the link gear with an internal input, is used for kinematic analysis, preceding the force calculation. The force on the output drive link is calculated based on the dependence, as an angle function of anthropomorphic gripper links and external loads.
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