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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

In the section BIOMECHANICS
Year 2014 Issue 4 Pages 95-98
Type of article RAR Index UDK 531.2 Index BBK  

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.

Keywords branching, anthropomorphic rod mechanical system, static stability, the hinge-joints, stiffness of springs, pillar phase, generalization
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