TY - GEN
T1 - Design of a Novel Cable-Driven 3-DOF Series-Parallel Wrist Module for Humanoid Arms
AU - Liang, Zhihao
AU - Wang, Bin
AU - Song, Yaowei
AU - Zhang, Tao
AU - Xiang, Chaoqun
AU - Guan, Yisheng
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/8
Y1 - 2021/8/8
N2 - In this paper, a 3-DOF series-parallel humanoid arms wrist module is proposed for humanoid service robots. This module, whose size and DOF configuration are consistent with humans, and adopts a cable-driven method to realize motion. The front part of the module provides a soft hand connection, and the module ends with a standard modular interface that enables the length of the humanoid arms to be reconstructed. The mechanical system of the wrist module has been developed, forward and inverse kinematics of the 3-DOF series-parallel structure is analyzed, a 3D printed physical prototype and control system is designed for the modular wrist experiment of pronation/supination, flexion/extension, and radial/ulnar deviation. Experiments show the 3-DOF series-parallel structure is capable of high fidelity humanoid wrist motion. This wrist module is designed to ensure lightweight and flexibility while improving the adaptability of the humanoid arm to different tasks, providing a new design idea for the humanoid arm to realize humanoid service applications.
AB - In this paper, a 3-DOF series-parallel humanoid arms wrist module is proposed for humanoid service robots. This module, whose size and DOF configuration are consistent with humans, and adopts a cable-driven method to realize motion. The front part of the module provides a soft hand connection, and the module ends with a standard modular interface that enables the length of the humanoid arms to be reconstructed. The mechanical system of the wrist module has been developed, forward and inverse kinematics of the 3-DOF series-parallel structure is analyzed, a 3D printed physical prototype and control system is designed for the modular wrist experiment of pronation/supination, flexion/extension, and radial/ulnar deviation. Experiments show the 3-DOF series-parallel structure is capable of high fidelity humanoid wrist motion. This wrist module is designed to ensure lightweight and flexibility while improving the adaptability of the humanoid arm to different tasks, providing a new design idea for the humanoid arm to realize humanoid service applications.
KW - 3-DOF
KW - cable-driven
KW - humanoid arm
KW - series-parallel mechanism
KW - wrist module
UR - https://www.scopus.com/pages/publications/85115142743
U2 - 10.1109/ICMA52036.2021.9512657
DO - 10.1109/ICMA52036.2021.9512657
M3 - 会议稿件
AN - SCOPUS:85115142743
T3 - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
SP - 709
EP - 714
BT - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Y2 - 8 August 2021 through 11 August 2021
ER -