msiСовременная наука и инновацииModern Science and Innovations2307-910XNorth-Caucasus Federal University10.37493/2307-910X.2020.4.2msi-249Research ArticleТЕХНИЧЕСКИЕ НАУКИENGINEERING SCIENCESСТРУКТУРНЫЙ СИНТЕЗ АНТРОПОМОРФНОГО ЗАХВАТА С АДАПТИВНЫМ УПРАВЛЕНИЕМ ДВИЖЕНИЕМ ВЫХОДНЫХ ЗВЕНЬЕВSTRUCTURAL SYNTHESIS OF ANTHROPOMORPHIC CAPTURE WITH ADAPTIVE MOTION CONTROL OF OUTPUT LINKSЖдановаЮ. И.ZhdanovaY. I.musrosjk@gmail.ruРоссийский технологический университетРоссияRussian Technological UniversityRussian Federation202004082022041827Copyright © Жданова Ю.И., 20222022Жданова Ю.И.Zhdanova Y.I.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://msi.elpub.ru/jour/article/view/249

Изложена методика синтеза структурных схемантропоморфного захвата, основанная на делении на независимые иерархические уровни. Сформированы принципы позволяющие формализовать критерий оптимальности для каждого уровня. Выполнен расчет параметров структурных схем для каждого уровня.

The method of structure synthesis based on the division of anthropomorphic apture into independ enthierar chicallevels is described. The principles have been formed that allow to formalize the criterion of optimality for each level. The substantiated synthesis of structural diagrams for all levels has been performed. The developed technique is applicable for various types ofgrippers.

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The authors declare that there are no conflicts of interest present.