title: ÐÐµÑ Ð°Ð½Ð¸Ð·Ð¼ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð°Ð½ÑÑÐ¾Ð¿Ð¾Ð¼Ð¾ÑÑÐ½Ð¾Ð¹ ÐºÐ¸ÑÑÑÑ
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: The control mechanism of the anthropomorphic hand
Creators: name: ÐÐ¾Ð²Ð¸ÐºÐ¾Ð², ÐÐ¼Ð¸ÑÑÐ¸Ð¹
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: Ð°Ð½ÑÑÐ¾Ð¿Ð¾Ð¼Ð¾ÑÑÐ½Ð°Ñ ÐºÐ¸ÑÑÑ
Ð·Ð°Ð´Ð°ÑÑÐµÐµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾
Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
anthropomorphic hand
setting device
manipulator

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description: The subject of research is the development of a master device for a manipulator with an anthropomorphic hand. The purpose of this graduate qualification work is to search and develop the optimal design of a master device for a manipulator with an anthropomorphic hand with copying control. It should be able to change the length of the fingers and move the fingers on the wrist to improve the accuracy of the work. In this bachelor's work, a search was made for existing options for the implementation of control devices for an anthropomorphic hand, three concepts for the implementation of a control mechanism were presented, and work was carried out on the development of basic and kinematic schemes and designs according to the most promising concept. As part of the work, the reactions that occur during the operation of the master device with the operator's fingers were calculated, and the sensors were checked. The structural strength was calculated using the tools of SolidWorks Simulation. Practical significance. The designed design of the master device can be used to capture objects of arbitrary shape and rigidity using a manipulator with copy control, which can be useful in extreme situations, for example, space operations.Conclusions. The resulting design of the control anthropomorphic device, during further development, has the opportunity to move to the stage of prototyping and development of a utility model.