{"title":"Design and Experiment of a Compact 3-DOF Humanoid Wrist with High Payload Capacity","authors":"Shengyin Wang, Zirong Luo, Shanjun Chen, Yiming Zhu, Haisen Zeng, Jianzhong Shang","doi":"10.1007/s42235-025-00690-z","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 3","pages":"1265 - 1286"},"PeriodicalIF":5.8000,"publicationDate":"2025-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Bionic Engineering","FirstCategoryId":"94","ListUrlMain":"https://link.springer.com/article/10.1007/s42235-025-00690-z","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
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.
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.