Kinematic analysis of the hinge-lever mechanism of the gripping device anthropomorphic robot
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Дата
2021
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Анотація
The analysis of forearm prostheses presented on the modern market
has been carried out. Their features, advantages and disadvantages are
characterized.
The relevance of this research work is shown.
A prototype of the prosthesis was selected. Selected drive type with
justification of the choice. A method for controlling the prosthesis has been
developed. The kinematic diagram of the brush has been compiled. The analysis of
the functionality of the modular hand prosthesis was carried out. Calculated brush
drive. Corresponding drive selected Hand force factors calculated.
Опис
Borysov V. Kinematic analysis of the hinge-lever mechanism of the gripping device anthropomorphic robot / V. Borysov ; sci. advisors: Ye. Mykhaylov, O. Kniukh // Black Sea Science 2021. Information Technology, Automation and Robotics : рroc. of the Intern. Competition of Student Scientific Works / Odessa Nat. Acad. of Food Technologies ; eds. B. Yegorov, M. Mardar, S. Kotlyk [et al.]. – Odessa : ONAFT, 2021. – P. 480-490 : fig. – Ref.: 13 tit.
Ключові слова
prosthesis of forear, four-bar Linkage, kinematic diagram of fingers, hand mechanism design, 3D printing, DC motor