Comparative analysis of human hand models based on rotational and spherical kinematic pairs

The problem of comparative analysis of the mechanical analogue of the human hand described in the form of executive kinematic chains represented by a connection of rotational kinematic pairs of the fifth class and an alternative solution in the form of a connection of spherical kinematic pairs of the third class is solved. For both cases, kinematic schemes and corresponding mathematical models of the object are constructed. Working zones are constructed and an assessment of the adequacy of the alternative model of the human hand, implemented with the help of spherical kinematic pairs of the third class, is performed.

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