Static core stability of mechanical systems with branching
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.