TY - GEN
T1 - An Actuated Spherical Joint for Humanoid Robotics Applications
AU - Folgheraiter, Michele
AU - Yessirkepov, Sharafatdin
AU - Yessaly, Alikhan
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by Nazarbayev University under the Faculty Development Competitive Research Grants Program award #090118FD5343.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - A newly developed actuated spherical joint is introduced for application in the field of humanoid robotics. The mechanism consists of a parallel structure with four limbs in a 3PSS-1S kinematic configuration. This, allows to perform rotations with respect to any arbitrary axis passing through the center of the joint, effectively implementing a spherical motion. By having the actuation system located on the fixed platform allows maximizing the payload and reducing the energy consumption. The solution of the inverse kinematics is provided together with simulation results conducted in V-REP. It is shown how parameters like the moving base diameter and the links length influence the workspace of the mechanism. A first prototype is presented together with preliminary results showing a rotation range of ±45 ° about the pitch and roll axes and 120° about the yaw axis.
AB - A newly developed actuated spherical joint is introduced for application in the field of humanoid robotics. The mechanism consists of a parallel structure with four limbs in a 3PSS-1S kinematic configuration. This, allows to perform rotations with respect to any arbitrary axis passing through the center of the joint, effectively implementing a spherical motion. By having the actuation system located on the fixed platform allows maximizing the payload and reducing the energy consumption. The solution of the inverse kinematics is provided together with simulation results conducted in V-REP. It is shown how parameters like the moving base diameter and the links length influence the workspace of the mechanism. A first prototype is presented together with preliminary results showing a rotation range of ±45 ° about the pitch and roll axes and 120° about the yaw axis.
KW - 3PSS-1S Parallel Manipulator
KW - Actuated Spherical Joint
KW - Humanoid Robotics
UR - http://www.scopus.com/inward/record.url?scp=85085862713&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85085862713&partnerID=8YFLogxK
U2 - 10.1109/CIS-RAM47153.2019.9095834
DO - 10.1109/CIS-RAM47153.2019.9095834
M3 - Conference contribution
AN - SCOPUS:85085862713
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 571
EP - 576
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -
