Design and Experiment of a Compact 3-DOF Humanoid Wrist with High Payload Capacity

IF 5.8 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY
Shengyin Wang, Zirong Luo, Shanjun Chen, Yiming Zhu, Haisen Zeng, Jianzhong Shang
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引用次数: 0

Abstract

The wrist unit is crucial in humanoid robots, determining their operational dexterity and precision. To address current challenges such as excessive size, limited Degrees of Freedom (DoFs), and insufficient load capacity, we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy. This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor (BLDC)-ball screw to achieve flexion/extension (F/E) and radial flexion/ulnar deviation (R/U), as along with pronation/supination (P/S) through an end-coupling design. We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist. Additionally, the workspace and motion capabilities of the humanoid wrist were evaluated. A prototype based on this design was built to demonstrate its motion and functional performance, verifying the feasibility and practicality of the humanoid wrist. This research provides a more compact design approach for future humanoid wrist development.

高载荷能力紧凑型三自由度人形腕部设计与实验
腕部是类人机器人的关键部件,决定了其操作的灵活性和精度。为了解决当前尺寸过大、自由度有限和承载能力不足等挑战,我们提出了一种受人类前臂和手腕解剖结构启发的3-DoF类人手腕。本文探讨了腕部仿生设计的原理,并介绍了一种由无刷直流电机(BLDC)-滚珠丝杠驱动的并联机构,通过末端耦合设计实现腕关节的屈伸(F/E)、桡骨屈伸/尺侧偏移(R/U)以及旋前/旋后(P/S)。对仿人腕部的逆运动学模型和奇异性进行了分析。此外,还评估了类人手腕的工作空间和运动能力。在此基础上搭建了原型机,展示了其运动和功能性能,验证了仿人手腕的可行性和实用性。本研究为未来类人腕关节的发展提供了一种更紧凑的设计方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Journal of Bionic Engineering
Journal of Bionic Engineering 工程技术-材料科学:生物材料
CiteScore
7.10
自引率
10.00%
发文量
162
审稿时长
10.0 months
期刊介绍: The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.
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