Issue |
MATEC Web Conf.
Volume 161, 2018
13th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2018
|
|
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Article Number | 03009 | |
Number of page(s) | 4 | |
Section | Robotics and Automation | |
DOI | https://doi.org/10.1051/matecconf/201816103009 | |
Published online | 18 April 2018 |
Synthesis of structural scheme of drive of adaptive multiple-link gripper
1
JSC ‘SPA ‘Android technics’, Moscow, Russia
2
Institute of Cybernetics, Moscow Technological University (MIREA), Moscow, Russia
* Corresponding author: musrosjk@gmail.com
The problem of construction of drive of multiple-link gripper capable to operate with human infrastructure objects is considered in the article. Technical specifications of structural scheme of actuating link group of a gripper are determined with reference to analysis of human hand finger bones motion. Structural scheme of system of motion transmission to the output links that realizes group drive and does not have kinematic correspondence of links is recommended. Synthesis of structural scheme is accomplished on the basis of providing of adaptability of output links location to the grasped object surface contour. The key point of the construction is variability of output link according to the interaction with grasped object. This is provided by passive power connections which are initiated between output links and motion transmission system links. Sequence of functioning of actuating link group is represented. Keywords: synthesis, structural scheme, drive, multiple-link gripper, actuating link group, passive power connections.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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