Parametric synthesis of system of transmission of motion to links of anthropomorphic gripper of variable structure

International Workshop "Advanced Technologies in Material Science, Mechanical and Automation Engineering – MIP: Engineering – 2019"

材料科学;机械制造;原子能学

Zhdanova, Yu. I.^1

MIREA, Russian Technological University, 78 Vernadsky av., Moscow

119454, Russia^1

关键词: Anthropomorphic grippers;    Combined mechanisms;    Grasped object;    Maximal forces;    Motion transmission;    Optimality criteria;    Parametric synthesis;    Variable structures;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/537/3/032089/pdf
DOI  :  10.1088/1757-899X/537/3/032089

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

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.