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首页> 外文期刊>American journal of applied sciences >Development of an Anthropomorphic Gripping Manipulator: The Analysis of Implementation Methods
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Development of an Anthropomorphic Gripping Manipulator: The Analysis of Implementation Methods

机译：拟人化抓取机械手的开发：实现方法分析

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摘要

The object of the article is the study of implementation methods for the development of hardware-software engineering solutions in the field of the creation of a universal anthropomorphic gripper. Such technical solutions are intended to enable the adaptation and extensive use of advanced robotic systems in the natural environmental conditions formed by people through equipping them with anthropomorphic universal grippers able to grip, hold and manipulate objects with arbitrary geometric shapes. During the study the anatomical structure of the hand was analyzed. The design and construction of anthropomorphic grippers represented in scientific articles and patents were considered. Also the structure of servomotors and sensor systems were analyzed which provide feedback and adaptability of control. As a result of conducted research trends in the technology of anthropomorphic gripping manipulators were identified. Before the development of a working prototype a comprehensive virtual simulation of a gripper is planned to be conducted. For this purpose Matlab as well as Gazebo, Grasplt and Movelt included in the Robotic Operation System (ROS) were selected. Using Matlab a mathematical model was created which describe the dynamics and kinematics of the future prototype. For the visualization of the modeling process and the creation of a virtual surround space a mathematical model in Gazebo was developed. Concurrent simulations in these environments allows for the development of algorithms and control software. Motion simulation of the hand in conditions close to real usage allows for the optimization of kinematic and mechanical design.
机译：本文的目的是研究在通用拟人化抓具创建领域中开发软硬件工程解决方案的实现方法。此类技术解决方案旨在通过为人们配备拟人化的通用抓手，使其能够抓握，握持和操纵具有任意几何形状的物体，从而在人们形成的自然环境条件下适应并广泛使用先进的机器人系统。在研究过程中，分析了手的解剖结构。考虑了以科学文章和专利代表的拟人化抓爪的设计和构造。还分析了伺服电机和传感器系统的结构，这些结构提供了反馈和控制的适应性。作为进行研究的结果，确定了拟人化抓握机械手技术。在开发工作原型之前，计划对夹具进行全面的虚拟仿真。为此，选择了包括在机器人操作系统（ROS）中的Matlab以及凉亭，Grasplt和Movelt。使用Matlab建立了一个数学模型，用于描述未来原型的动力学和运动学。为了可视化建模过程和创建虚拟环绕空间，在凉亭开发了数学模型。在这些环境中进行并行仿真可以开发算法和控制软件。在接近实际使用条件下的手部运动模拟可以优化运动学和机械设计。

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