Construction of Anthropomorphic Grippers with Adaptive Control

Abstract

The functionality of industrial robots is provided primarily by the capabilities of their end effectors.The limited capabilities of robotic grippers determined the transition to the creation of anthropomorphic grippers.The number of degrees of freedom (DOF) of the end effector in the form of an anthropomorphic hand ensuring reliable grasping and holding the object should be at least nine, preferably twelve.The implementation of such a design is possible only when switching to the principle of construction of an underactuated grippers system.This paper presents the concept of constructing a group drive, which ensures the implementation of the movement of the output links of two or more executive groups from one motor.Technical solutions are based on the development of methods for analyzing complex mechanical systems using functional circuits.