title: ÐÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð²Ð½ÑÐµ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð°Ð½ÑÑÐ¾Ð¿Ð¾Ð¼Ð¾ÑÑÐ½ÑÑ ÑÑ Ð²Ð°ÑÐ¾Ð², Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¸ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð´Ð¾Ð±Ð½ÑÐ¼Ð¸ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð°Ð¼Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Constructive implementations of anthropomorphic grippers, algorithms and methods of controlling of such devices
Creators: name: Ð®ÑÐµÐ½ÐºÐ¾, ÐÐ¸Ð°Ð½Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÑÑ Ð²Ð°Ñ
Ð°Ð½ÑÑÐ¾Ð¿Ð¾Ð¼Ð¾ÑÑÐ½ÑÐ¹ ÑÑ Ð²Ð°Ñ
Ð¿ÑÐ¾ÑÐµÐ·
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
gripper
anthropomorphous gripper
prosthesis
control

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description: The subject of the graduate qualification work is âConstructive implementations of anthropomorphic grippers, algorithms and methods of controlling of such devicesâ.The given work is devoted to the analysis and development of anthropomorphic gripper based on existing modern analogues.The research set the following goals:1. Study of the constructive features of anthropomorphic grippers.2. The study of the program control of grippers.3. Gripper development.4. Analysis of the operability of the created gripper model,5. Development of a gripper control system.The analysis was carried out, on the basis of which the constructive implementation of an anthropomorphic wrist with the possibility of adaptive object grasp was determined. As part of the work, a dynamic analysis was carried out to determine the optimal drive for controlling the fingers of the wrist. A kinematic analysis of the fingers was also carried out, showing the trajectories of the movement of the fingers. Based on the analysis, the range of objects with which the gripper can interact was determined. The gripper was developed using the SolidWorks software.As a result, a wrist was created that can be used as a robot gripper and can also be used for medical purposes for upper limb prosthetics. The gripper control system has also been designed. Controlling is carried out via Bluetooth through a user application.