Title | ||
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Development Of A Humanoid Shoulder Based On 3-Motor 3 Degrees-Of-Freedom Coupled Tendon-Driven Joint Module |
Abstract | ||
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In this study, a new humanoid shoulder is developed using a coupled tendon-driven mechanism that consists of three motors to drive three degrees of freedom (DoFs). In the coupled tendon-driven mechanism, multiple motors simultaneously drive multiple joints with each joint driven by at least two motors coupled with tendons. The torque of a motor is redistributed to multiple joints in a certain proportion to improve the load capacity of the joints. The 3M3D (3-motor 3-DoF) coupled tendon-driven joint module is systematically analyzed and divided into four categories according to the torque transmission characteristics between the motors and the joints: fully routed motor-joint form, 1-unrouted motor-joint form, 2-unrouted motor-joint form, and 3-unrouted motor-joint form. The four categories were analyzed and compared with respect to the characteristics of the motor torque redistribution with different tendon routing forms. The 2-unrouted motor-joint form was adopted for the development of the 3-DoF shoulder joint. The problem of the coexistence of coupling and non-coupling in one joint is solved by introducing a 2-DoF rolling joint. The relationship between the angle and torque between the motors and joints was verified experimentally. The experimental results revealed that the 3M3D coupled tendon-driven shoulder realized torque enhancement effectively by tendon coupling, and the angle accuracy was sufficient as a humanoid shoulder. |
Year | DOI | Venue |
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2021 | 10.1109/LRA.2021.3056376 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | DocType | Volume |
Tendons, Pulleys, Shoulder, Torque, Humanoid robots, Couplings, Routing, Anthropomorphic robot, coupled, joint module tendon-driven mechanism, joint module, Shoulder joint | Journal | 6 |
Issue | ISSN | Citations |
2 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
---|---|---|---|
Wenyang Li | 1 | 1 | 1.72 |
Yiwei Wang | 2 | 147 | 12.10 |
Shunta Togo | 3 | 2 | 6.05 |
Hiroshi Yokoi | 4 | 383 | 92.58 |
Yinlai Jiang | 5 | 10 | 11.72 |