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

The object of the 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. Before the development of a working prototype a comprehensive virtual simulation of a gripper is planned to be conducted. For this purpose Matlab as well as Gazebo, GraspIt and MoveIt included in the Robotic Operation System (ROS) were selected. Using Matlab a mathematical model was created which describe the dynamics and kinematics of the future prototype. For the visualization of the modeling process and the creation of a virtual surround space a mathematical model in Gazebo was developed. Concurrent simulations in these environments allows for the development of algorithms and control software. Motion simulation of the hand in conditions close to real usage allows for the optimization of kinematic and mechanical design.