Abstract:
Humanoid arms are important components of humanoid service robots. Due to the complexity and diversity of the service scenarios in the operation of humanoid service robot...Show MoreMetadata
Abstract:
Humanoid arms are important components of humanoid service robots. Due to the complexity and diversity of the service scenarios in the operation of humanoid service robots, humanoid arms needs to simultaneously meet the design requirements of lightweight, flexibility, and expandability. In this paper, a cable-driven elbow joint module for humanoid service robots is designed using a modular approach. The cable-driven elbow module uses an anti-parallel mechanism as a rolling joint to achieve a degree-of-freedom flexion/extension motion. The moment arm length of the anti-parallel mechanism is optimized and kinematic analysis is performed. Simulations are conducted to verify the accuracy of the kinematics model. A physical prototype of the cable-driven elbow module is fabricated by 3D printing, and a control system is developed for the flexion/extension motion experiments.
Date of Conference: 27-31 December 2021
Date Added to IEEE Xplore: 28 March 2022
ISBN Information: