Formation of the Method of Description and Control of the Relative Position of the Gripper Phalanges for Anthropomorphic Robot

Abstract

The structural and design features and methods of description and improvement of both the mechanical design of grippers of anthropomorphic robots or prosthesis and the methods of model formation and improvement are analyzed. It is proposed to use a stepper motor, an additional brake and rods to drive the phalanges. A combined model of the drive, brakes and tractions has been created. The conducted modeling mostly concerns the drive of the links and the structure of the joints, which involves sensitization of the fingers and the skin of the palm and the skin in general. Formed as a result of recurrent approximation, the model demonstrates how combining modern analytical research methods for automatic control of robots with new distributed sensors improves their technological capabilities. The solution methodology, the system of nonlinear differential equations with additional models of traction and brake elements allowed to introduce design changes to eliminate dead zones. The obtained model methods and impact data are suitable for designing and modeling intelligent robotics and automation systems.