ISSN 0021-3454 (print version)
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vol 64 / January, 2021
Article

DOI 10.17586/0021-3454-2020-63-5-467-475

UDC 621.01, 621.837.3

Algorithm of Structural-Parametric Synthesis of Adaptive Gripper Mechanisms with Varia-ble-Length Links

I. I. Borisov
ITMO University, Faculty of Control Systems and Robotics; Assis-tant;


R. A. Zashchitin
ITMO University, Faculty of Control Systems and Robotics; Engineer;


O. V. Borisova
ITMO University, Faculty of Control Systems and Robotics; Engineer;


S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor


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Abstract. An algorithm is proposed for the structural and parametric synthesis of finger mechanisms of universal gripping devices that can solve problems of reliable manipulation of objects of arbitrary shape under external static contact influences and the use of relatively simple position and speed controllers. The required performance characteristics are achieved due to the mechanical decomposition of the control channels, in particular due to introduction of active or passive units of variable length into the robot design. The algorithm can be used to synthesize the mechanisms of both industrial gripping devices and anthropomorphic hand prostheses.
Keywords: synthesis of mechanisms, variable-length links, gripping devices, structural synthesis, adaptivity

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