Development of an Anthropomorphic Gripping Manipulator: The Analysis of Implementation Methods

The object of this 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. For this purpose, Matlab as well as Gazebo, GraspIt and MoveIt included in the Robotic Operation System were selected. Using Matlab a mathematical model was created which describe the dynamics and kinematics of the future prototype.