Abstract
The article is dedicated to issues of designing an anthropomorphic gripper (AG) made from actuating link groups (ALG) possessing kinematics similar to human fingers kinematics. The ALG option with the number of output links exceeding the number of motors is being considered. The general drive of links using motion transmission system (MTS) of variable structure is realized. The accepted method of MTS construction provides development of a new feature that is adaptability of the location of links to the profile of the grasped object surface. MTS may be constructed using leverage, rope and combined mechanisms. The transmission of high force is realized by leverage mechanisms. Its special feature is significant number of projected parameters. It determines the necessity of solving a problem of MTS parametric synthesis in optimization performance. The maximal force on the ALG output links at the end positions is proposed to be used as an optimality criterion. The restrictions placed on an optimality criterion and terms of similarity to finger phalanges motion are determined.
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