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The current stage of anthropomorphic engineering development is characterized by its transfer from the industry to the social sphere. However, anthropomorphic robots capable both of interacting with human beings and of substituting human beings in hazardous conditions hold a special place. Their structure, which is similar to the human skeleton, makes it possible to provide similar kinematics and to introduce them easily into the human life and activities.

It is well known that the main functions are fulfilled by the gripper. In most cases anthropomorphic grippers are used in such robots. Their design assumes the maximum match of the freedom of movement to that of human hand. However, providing the same freedom of movement and the necessary power characteristics using modern drives is a complicated task. The authors considered making use of a common drive providing the movement of elements in kinematic pairs with parallel lines of rotation. They carried out analytical investigations of the common drive in the two actuating groups of elements providing movement in one separate group of a thumb, while in the other one simultaneous movement of the fingers. To carry out the kinematic analysis, the expressions of geometric constraints in the vector form were developed, and after that, a system of scalar equations was obtained. The solution of the systems was found using the MathCad mathematical software. As a result, the authors developed the diagrams reflecting the relationship between the angle change and the slide block stroke, the position plans and the paths of junction points of the mechanisms, their angular velocities were also calculated. The obtained velocity plans made it possible to calculate the permissible loads on the actuating group of elements. The described sequence of the analytical investigation makes it possible to carry out the kinematic and power analysis at the design stage.


Anthropomorphic gripper, actuating group of elements, common drive, Kinematic and power analysis, sliding pair drive, gripping force

Alexander E. Vasilyev

Ph.D. (Eng.), Associate Professor, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia.

Vladimir F. Mikhaylets

Ph.D. (Eng.), Associate Professor, Department of Mechanik, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia.

Anvar S. Sarvarov

D.Sc. (Eng.), Professor, Department of Automatic Electric Drive and Mechatronics, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia.

Kristina V. Danilenko

Scientific Development and Production Center «Android Technology», Moscow, Russia.

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