DOI 10.17586/0021-3454-2022-65-3-155-163
UDC 621.837. 5
STRUCTURAL-PARAMETRIC SYNTHESIS OF PLANAR UNDERACTUATED LINKAGES FOR ANTHROPOMORPHIC ROBOTIC HANDS
ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics;
D. V. Ivolga
ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics;
I. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; Assistant
N. A. Molchanov
Sberbank, Robotics Laboratory;
I. A. Maksimov
Sberbank, Robotics Laboratory;
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Abstract. The results of structural-parametric synthesis of planar underactuated linkages with variable length links are presented. The proposed synthesis is based on the principle of morphological computation, which means that robot’s desired properties are „programmed“ at mechanical level, while active control is used only for soft motion correction caused by the natural behavior of the system. The proposed synthesis algorithm was tested to create an adaptive compact hand for the anthropomorphic robot iCub, capable of performing all fundamental grips and having a higher load capacity with dimensions similar to the original cable-driven hand design. An example of the synthesis for an index finger mechanism is given and the results of testing a prototype device are presented. The developed prototype has 14 degrees of freedom, but it is controlled by just four motors. Minimizing the number of motors made it possible to simplify the hardware and software of its control system, reduce the number of required sensors and weight and size parameters and reduce the cost of components.
Keywords: grippers and other end-effectors, compliant joint/mechanism, variable length links, flexible robots, mechanism design
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