Kinematic analysis anthropomorphic gripper with group drive

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 reas...

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मुख्य लेखकों:	Petrenko, V. I., Петренко, В. И., Tebueva, F. B., Тебуева, Ф. Б., Gurchinsky, M. M., Гурчинский, М. М., Pavlov, A. S., Павлов, А. С., Antonov, V. O., Антонов, В. О., Ryabtsev, S. S., Рябцев, С. С.
स्वरूप:	Статья
भाषा:	English
प्रकाशित:	Institute of Physics Publishing 2020
विषय:	Kinematic analysis Anthropomorphic robotics Anthropomorphic gripper with group drive
ऑनलाइन पहुंच:	https://dspace.ncfu.ru/handle/20.500.12258/12140
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id	ir-20.500.12258-12140
record_format	dspace
spelling	ir-20.500.12258-121402020-06-29T14:55:09Z Kinematic analysis anthropomorphic gripper with group drive Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Ryabtsev, S. S. Рябцев, С. С. Kinematic analysis Anthropomorphic robotics Anthropomorphic gripper with group drive 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 2020-06-29T14:53:13Z 2020-06-29T14:53:13Z 2020 Статья Petrenko, V.I., Tebueva, F.B., Gurchinsky, M.M., Pavlov, A.S., Antonov, V.O., Ryabtsev, S.S. Kinematic analysis anthropomorphic gripper with group drive // IOP Conference Series: Materials Science and Engineering. - 2020. - Volume 862. - Issue 3. - Номер статьи 032057 http://hdl.handle.net/20.500.12258/12140 en IOP Conference Series: Materials Science and Engineering application/pdf Institute of Physics Publishing
institution	СКФУ
collection	Репозиторий
language	English
topic	Kinematic analysis Anthropomorphic robotics Anthropomorphic gripper with group drive
spellingShingle	Kinematic analysis Anthropomorphic robotics Anthropomorphic gripper with group drive Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Ryabtsev, S. S. Рябцев, С. С. Kinematic analysis anthropomorphic gripper with group drive
description	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
format	Статья
author	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Ryabtsev, S. S. Рябцев, С. С.
author_facet	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Ryabtsev, S. S. Рябцев, С. С.
author_sort	Petrenko, V. I.
title	Kinematic analysis anthropomorphic gripper with group drive
title_short	Kinematic analysis anthropomorphic gripper with group drive
title_full	Kinematic analysis anthropomorphic gripper with group drive
title_fullStr	Kinematic analysis anthropomorphic gripper with group drive
title_full_unstemmed	Kinematic analysis anthropomorphic gripper with group drive
title_sort	kinematic analysis anthropomorphic gripper with group drive
publisher	Institute of Physics Publishing
publishDate	2020
url	https://dspace.ncfu.ru/handle/20.500.12258/12140
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Kinematic analysis anthropomorphic gripper with group drive

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