Construction basics of adaptive group actuators of anthropomorphic grippers actuating link groups

摘要

The grippers are the main structural component of anthropomorphic robots. Modern griper is a complex multiengined system with a great number of degrees of freedom. When such grippers are designed it is necessary to decrease the weight and increase the number of mobile links. Decreasing the gripper weight is possible by means of new approaches to the construction of the system of motion transmission to the links. The most promising solution is the use of group actuator with kinematically correspondent motions within each actuating link group. In this case the motion of three links is realized by one actuator. At this time functional capacities incident to grippers with individual actuator are provided by means of separation of motion into several flows through the differential mechanism. The adaptability of the location of links to the form of the grasping surface is realized by means of additional passive power elements. The structural scheme of a gripper is determined by functional schemes that reproduce interconnected motion of links. Several variants of kinematic schemes of grippers with differential actuator were developed.