Abstract
The object of the article is the study of implementation methods for the development of hardware-software engineering solutions in the field of the creation of a universal anthropomorphic gripper. Such technical solutions are intended to enable the adaptation and extensive use of advanced robotic systems in the natural environmental conditions formed by people through equipping them with anthropomorphic universal grippers able to grip, hold and manipulate objects with arbitrary geometric shapes. During the study the anatomical structure of the hand was analyzed. The design and construction of anthropomorphic grippers represented in scientific articles and patents were considered. Also the structure of servomotors and sensor systems were analyzed which provide feedback and adaptability of control. As a result of conducted research trends in the technology of anthropomorphic gripping manipulators were identified. Before the development of a working prototype a comprehensive virtual simulation of a gripper is planned to be conducted. For this purpose Matlab as well as Gazebo, GraspIt and MoveIt included in the Robotic Operation System (ROS) were selected. Using Matlab a mathematical model was created which describe the dynamics and kinematics of the future prototype. For the visualization of the modeling process and the creation of a virtual surround space a mathematical model in Gazebo was developed. Concurrent simulations in these environments allows for the development of algorithms and control software. Motion simulation of the hand in conditions close to real usage allows for the optimization of kinematic and mechanical design.
Highlights
Introduce the ProblemRobotics is a popular and very promising development trend in science and engineering
The paper (Grebenstein et al, 2010) presents the results of research into the structure and kinematics of a human hand as well as the development of the joints, structurally similar to human knuckles: Conventional joint with a single degree of freedom, condyle-like knuckle with two degree of freedom and saddle-like joints with two degrees of freedom
In consequence of existing structures analysis, it was decided to take as a starting point, the configuration with servo drives located in the forearm because with such a configuration it is possible to realize a large number of independent degrees of freedom
Summary
Robotics is a popular and very promising development trend in science and engineering. Both in everyday life and in production (Roboforce, 2015) it is used more and more as different robotic systems including the anthropomorphic are developed. One barrier that complicates the widespread use of such robotic systems is the need for an anthropomorphic grab function which could qualitatively replicate the hand. This is especially strongly shown in the tasks associated with the precise handling of small objects and tools with irregular shape where the standard robotic grippers aren’t applicable
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