Abstract
Anthropomorphic robots (AR): Robonaut (USA), Asimo (Japan), FEDOR (Russia) are similar to human capabilities in performable actions. Whereby the AR efficiency depends on the anthropomorphic gripper (AG) functionality. The key problems while its developing are restrictions imposed on permissible amount of using motors. One of advanced approaches to developing of the AG with capabilities similar to a human hand is the use of a common drive wisawe3dsth a special motion transfer system (MTS). Due to including functioning connections into the MTS construction the variability of a schematic structure is provided and the kinematic dependence of output links motion is excluded, thus their sequence motion is provided. The inverse kinematic problem was solved for the developed MTS version. Analytical dependences joining the MTS parameters, rotational angles of actuating group links with a rotational angle of an output link drive are obtained. Performed researches are sufficient for the AG power analysis. Implementability of gripper links rotational angles similar to the phalanges rotation, when using the proposed MTS, is confirmed.
Highlights
One of rapidly developing technics areas are anthropomorphic robots (AR)
anthropomorphic gripper (AG) is constructed in accordance with the technical solution patented in the Russian Federation [5] and comprises five actuating groups of links (AGL)
AGL represents a mechanism with the common drive and the variable schematic structure, which is presented in three optional versions
Summary
One of rapidly developing technics areas are anthropomorphic robots (AR) It is caused by demand for technological complexes capable of functioning with capabilities similar to human and developing of software and hardware integral part of a control system. In view of restrictions imposed on the size of the manipulator, a group drive of AGL links was used. It allowed reducing the amount of active AG drives to 6 (Fig. 1). In view of the group drive use the AGL links motions are kinematically dependent. It reduces the range of captured details sizes with realization of a multiple links contact
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