Research of kinematics of an actuating group of an anthropomorphic gripper with a common drive

摘要

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.