Approach to the Study of Kinematics and Modeling Grip of 22 DOF Anthropomorphic Gripping Manipulator

The results of analysis and study the kinematic model of the anthropomorphic arm with 22 degrees of freedom are given. Describes how to use the package GraspIt! virtual simulation and experimental study of the grasping efficiency of various items. Applications submitted technique enables to compare different versions of kinematic schemes of manipulators and to determine the adequacy of the choice of a particular kinematic scheme for the optimal grasp of a known set of objects. This approach is relevant in the development of manipulators grip, especially in the presence of restrictions on the number of controlled degrees of freedom. For example, when developing bionic prostheses hands actual task of reducing weight and, correspondingly, the number of degrees of freedom. The paper compared the two kinematic schemes to capture the geometric primitives example, so-called human scheme - when the thumb is opposed to the little finger, and monkey scheme - when the thumb is opposed to the middle finger. It is shown that to perform the grasp of large objects appropriate to use human scheme.