An Orthogonal-Axis Spherical Parallel Mechanism With Large Workspace for Humanoid Hip Joints: Design, Optimization, and Experimental Validation

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2026-07-01 Epub Date: 2026-03-12 DOI:10.1109/LRA.2026.3692330

Haotian Liu;Zhaoming Liu;Hongwei Wang;Long Cui

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引用次数: 0

Abstract

Conventional serial-chain configurations for humanoid robot lower limbs exhibit issues such as concentrated driving torques, inertial coupling, and error accumulation, leading to inadequate joint stiffness, limited control precision, and reduced dynamic stability. To overcome these drawbacks, this study proposes a novel Orthogonal-axis Spherical Parallel Mechanism, inspired by the ball-and-socket structure of the human hip joint. The kinematic model of the mechanism is established. A multi-objective optimization framework is then constructed, considering workspace coverage, dexterity, and maximum joint torque, and optimal parameters are obtained through weighted decision-making. Simulations and experiments verify that the optimized mechanism fully covers the common range of motion of the human hip joint, demonstrates improved dexterity within common motion ranges, and supports a single-leg payload of 40 kg. Integrating high stiffness, a large workspace, and superior load capability, this design offers a comprehensive solution for humanoid robotic legs.

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具有大工作空间的人形髋关节正交轴球面并联机构：设计、优化和实验验证

传统的仿人机器人下肢链式结构存在驱动力矩集中、惯性耦合和误差积累等问题，导致关节刚度不足、控制精度受限、动态稳定性降低。为了克服这些缺点，本研究提出了一种新的正交轴球面并联机构，灵感来自于人类髋关节的球窝结构。建立了机构的运动模型。在此基础上，构建了考虑工作空间覆盖、灵巧度和最大关节力矩的多目标优化框架，并通过加权决策得到最优参数。仿真和实验验证了优化后的机构完全覆盖了人体髋关节的常见运动范围，在常见运动范围内显示出更高的灵活性，并支持40 kg的单腿有效载荷。该设计集成了高刚度、大工作空间和优越的负载能力，为仿人机器人腿提供了全面的解决方案。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.