Kinematic analysis anthropomorphic gripper with group drive

Abstract

The advantages of anthropomorphic robotics include the ability to work in a human-oriented environment and the performance of complex tasks that usually only a person can cope with. One of the most important tasks in this area is the development of powerful anthropomorphic grippers. For several reasons anthropomorphic grippers with group drives are promising, in which movement from several joints is performed from one drive. The purpose of the article is a kinematic analysis of one of the possible design of such a gripper. In the article solved the direct and inverse problems of kinematics in an analytical form using the geometric method. The dependences of the Cartesian coordinates of the joints of the fingers on the joint coordinate describing the motion of a group drive were obtained for the solving the direct kinematic problem. The dependences between the joint coordinate of a group drive and desired position of the finger joints or the orientation of its links were obtained for solving the inverse problem of kinematics. The obtained results can be used further for performing dynamic analysis, parametric synthesis of the design and synthesis a control system for an anthropomorphic gripper with group drive