title: ÐÐ¸ÑÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ ÑÐ¸Ð»Ð¾Ð²ÑÐ¼ Ð¾ÑÑÐ²ÑÑÐ²Ð»ÐµÐ½Ð¸ÐµÐ¼
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Manipulator hand with force sensitivity
Creators: name: ÐÐ¾ÑÐ¾Ð², ÐÐ°Ð½Ð¸Ð¸Ð»
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: 2023
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð·Ð°Ñ Ð²Ð°ÑÐ½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾
Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÐºÐ¾Ð½ÑÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÑÐ°ÑÐ½Ð¸Ñ ÐºÐ°ÑÐµÐ½Ð¸Ñ
gripping device
design
engineering
rolling joint

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description: Subject of the research is the development of a manipulator hand with force sensitivity for work with dangerous objects. The purpose of this work is to search and develop an optimal design of manipulator hand with remote copying control, able to work with objects of different shapes. The manipulator hand must have a load capacity of at least 10 N and be made as a full-fledged quick-release module. The hand must have at least 6 degrees of freedom and a layout similar to a human hand. In this work a search was made for existing implementations of the manipulator hand, two concepts of implementation of the finger as part of the brush were presented, and work was carried out on the development and description of the principal and kinematic schemes and designs for the most promising concept with a rolling joint on tension tapes. As part of the work, the power indicators of the hand were calculated when capturing an object on the basis of which the drive was selected. The geometry for the rotation of the finger module and the strength of the tapes are calculated. Also, within the framework of the work, the possibilities of hand sensitivity are considered. Practical significance. The designed hand can be used to capture objects of various shapes and stiffness, which can be useful in extreme situations, for example, space operations. Conclusions. The resulting design of the manipulator hand, during further development, has the opportunity to move to the stage of prototyping and developing a utility model.