Abstract
The article is a study into the kinematic scheme of a newly developed anthropomorphic manipulator designed to perform gripping and holding tasks on items from a predefined set. Within the study is the implementation of a mathematical model describing the kinematics of a multilink manipulator using the GraspIt package. The method used in this study allows for the calculation of design parameters for manipulator grip functions at an early stage of the creation process as well as to verify the effectiveness of the kinematic scheme of the manipulator on how adequately it can perform its primary functions of griping and holding certain objects, which is vitally important in the design of universal anthropomorphic handling manipulators for special applications, such as bionic prostheses as well as manipulators with arbitrary kinematic schemes. The presented program model provides a preliminary calculation of the motion trajectories of the manipulator unit through the so-called eigengrasp (synonym-synergy, synchronous motion) and can be used as a virtual model for building embedded control systems for robot manipulators. It is shown that in the development of anthropomorphic handling manipulators for operating with small-sized objects it is more efficient to use the monkey scheme, but if the main group of target objects is primarily large items, then it is better to use the human scheme.
Highlights
Modern society is increasingly confronted with problems related to the increasing costs of low-skilled labor.We are currently living in the sixth techno-economic paradigm and the leading role in it is given to the development of personal and service robotics
Intellectual robots are gradually penetrating into all corners of daily life-from robotic toys to robotic assistants for personal waiters and nurses who perform household duties in the care of people with limited mobility
According to expert estimates (ANO, 2015) in the coming years, more than 90% of assembling technological lines will be equipped with such handling devices
Summary
Modern society is increasingly confronted with problems related to the increasing costs of low-skilled labor.We are currently living in the sixth techno-economic paradigm and the leading role in it is given to the development of personal and service robotics. Intellectual robots are gradually penetrating into all corners of daily life-from robotic toys to robotic assistants for personal waiters and nurses who perform household duties in the care of people with limited mobility. These robots can be used to carry out low-skilled jobs such as sorting products on an assembly line, loading/unloading conveyor belts, packing finished products or pre-packing. One of the options for increasing the performance of such technological lines is the use of anthropomorphic type universal grippers, capable of adapting to complex geometrically shaped objects and having the ability to develop and sustain the grip and able to change the profile of the grip (maneuver)
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