Synthesis of Structure of Actuating Link Group with Common Drive Based on Formation and Analysis of Scheme of Functioning

Abstract

Anthropomorphic gripper (AG) is designed by analogy with a human hand and contains five actuating link groups (ALG), four of which are similar. Sequential motion of hand finger phalanges: proximal, mesial, distal is realized during the object grasping. Thus its rotation is performed around parallel rotation axes. Significant weight determined by the number of motors corresponding to the number of degrees of freedom is one of the most essential problems of AG designing. To reduce the number of motors the motion of output ALG links should be performed from common drive. Synthesis of structural scheme of motion transmission system (MTS) that realizes the common drive is performed on the basis of preliminary formation of scheme of functioning. Its formation is accomplished by providing of required motion process of output links during interaction with external object surface. Necessary component elements defining processes in MTS completely are determined. Its graphical interpretation is proposed. Set of MTS each of which provides interaction with external objects by analogy with finger grasping is designed through the identification of component elements of scheme of functioning and structural scheme. Its usage allows to reduce the necessary number of used motors from 20 to 10 saving gripper functionality.