Chigarev A.V., Doctor of Physical and Mathematical Sciences, Professor, Head of the Department of Theoretical Mechanics of the Belarusian National Technical University, Minsk, Republic of Belarus, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

Borisov A.V., Ph.D. in Technical Sciences, Associate Professor of the Department of Advanced Mathematics of the Branch FGBOY VPO "NIU Moscow Power Engineering Institute" in Smolensk, Russia

The study of static stability of core mechanical system with branching units corresponding to the portable foot and two hands. The concrete example of a model in the form 11-links anthropomorphic system in the phase of support on one leg. The resulting generalization of the solution for the case of systems with an arbitrary number of links. A comparison with the model without branching, highlights the differences and the reasons that caused them. Numerically calculated zone of stability for equilibrium anthropomorphic mechanical model. Modeling of actuators in the joints- the joints is realized in the form of spiral springs. This model can be used in the practical design of anthropomorphic robots and exoskeletons to determine the minimum force that must be applied in the area of large joints-joints mechanism for maintaining the vertical static poses.

• Chigarev A.V., Borisov A.V. Modelirovanie i opredelenie kriteriev staticheskoi ustoichivosti endo- i ekzoskeleta [Modeling and static stability criteria endo- and exoskeleton]. Mekhanika mashin, mekhanizmov i materialov – Mechanics of machines, mechanisms and materials, 2013, no. 2(23), pp. 83-88.

• Merkin D.R. Vvedenie v teoriiu ustoichivosti dvizheniia [Introduction in the theory of motion stability]. Moscow, Nauka, 1971. 312 p.

• Tsigler G. Osnovy teorii ustoichivosti konstruktsii [Fundamentals of the theory of structures’ stability]. Moscow, Mir, 1971.