TY - GEN
T1 - Development of a Shoulder Joint for Humanoid Robotics Application
AU - Otarbay, Zhenis
AU - Yessirkepov, Sharafatdin
AU - Timur Ishuov
AU - Folgheraiter, Michele
N1 - Funding Information:
ACKNOWLEDGMENTS This work was conducted within the projects "Development of an Intrinsically Safe Actuation System with Adaptive Neuromorphic Control for Humanoid Robotics Application" supported by Nazarbayev University under the Faculty Development Competitive Research Grants Program Award #021220FD0551.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In this paper we present the design and the kinematic model of a low-inertia, high-stiffness, tendon-driven shoulder joint for humanoid robotics application. The current system includes three limbs connected in a parallel architecture with 2 DOFs of mobility that allow rotations about the pitch and roll axes. In addition a third DOF can be easily included to implement the yaw rotation. Motion is possible thanks to three tendons displaced at 120 deg one from another and moved by pulleys connected to motors integrated in the base of the joint. The forces applied by the three tendons to the moving platform are measured with precise load cells sensors integrated in the joint structure. A customized motherboard was developed to allow integrating the micro-controller unit, the motor drivers and the instrumentation amplifiers. The forward kinematic model of a single limb of the parallel shoulder joint was obtained using screw theory and the inverse kinematics calculated from the orientation matrix. Preliminary tests of the joint were conducted using a customized graphical user interface that facilitate monitoring and controlling the actuators' status and all the system variables.
AB - In this paper we present the design and the kinematic model of a low-inertia, high-stiffness, tendon-driven shoulder joint for humanoid robotics application. The current system includes three limbs connected in a parallel architecture with 2 DOFs of mobility that allow rotations about the pitch and roll axes. In addition a third DOF can be easily included to implement the yaw rotation. Motion is possible thanks to three tendons displaced at 120 deg one from another and moved by pulleys connected to motors integrated in the base of the joint. The forces applied by the three tendons to the moving platform are measured with precise load cells sensors integrated in the joint structure. A customized motherboard was developed to allow integrating the micro-controller unit, the motor drivers and the instrumentation amplifiers. The forward kinematic model of a single limb of the parallel shoulder joint was obtained using screw theory and the inverse kinematics calculated from the orientation matrix. Preliminary tests of the joint were conducted using a customized graphical user interface that facilitate monitoring and controlling the actuators' status and all the system variables.
KW - Humanoid Robotics
KW - Parallel Manipulator
KW - Shoulder Joint
KW - Spherical Joint
KW - Tendon Actuated Mechanism
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U2 - 10.1109/ICAR53236.2021.9659411
DO - 10.1109/ICAR53236.2021.9659411
M3 - Conference contribution
AN - SCOPUS:85124701360
T3 - 2021 20th International Conference on Advanced Robotics, ICAR 2021
SP - 771
EP - 776
BT - 2021 20th International Conference on Advanced Robotics, ICAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th International Conference on Advanced Robotics, ICAR 2021
Y2 - 6 December 2021 through 10 December 2021
ER -
