From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism
From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism
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DOI：
10.5402/2013/890609
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发表时间：
2013-09
期刊：
影响因子：
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通讯作者：
I. Georgilas;V. Tourassis
中科院分区：
文献类型：
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作者：
I. Georgilas;V. Tourassis
为了利用生物关节在机动性和关节性方面的优势，机电一体化偶尔受到大自然的启发进行关节设计。在这种背景下，基于人类脊柱的结构和驱动，作者将提出一种新的超冗余机制，命名为ERMIS。人类躯干的肌肉-骨骼系统将被描述和建模，而被机械模拟复制的元素将被分析。这将表明，椎骨-椎间盘的排列可以通过一个球形结构，即提出的盘-球-盘关节来模拟。此外，肌肉驱动系统是由电线和滑轮系统重建。将开发相关的运动学模型，并将演示模拟和实验数据以评估其操作。
Mechatronics are occasionally inspired by nature for joint designs in order to exploit the advantages of the biological ones in terms of mobility and articulation. Within this context and based upon the human spine for structure and actuation, the authors will present a novel hyperredundant mechanism, named ERMIS. The muscle-skeletal system of the human trunk will be described and modelled, and the elements that are being replicated by the mechanical analog will be analysed. It will be shown that the vertebrae-intervertebral disk arrangement can be emulated by a spherical-type configuration, the proposed Disk-Ball-Disk joint. Furthermore, the muscle actuation system is being recreated by a system of wires and pulleys. The relevant kinematic models will be developed, and both simulation and experimental data to evaluate its operation will be demonstrated.