A 3-DOF Bionic Waist Joint for Humanoid Robot
A 3-DOF Bionic Waist Joint for Humanoid Robot
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DOI：
10.1109/embc46164.2021.9630772
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发表时间：
2021-11
期刊：
影响因子：
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通讯作者：
Yiwei Wang;Wenyang Li;Tongyang Cao;Shunta Togo;H. Yokoi;Yinlai Jiang
中科院分区：
文献类型：
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作者：
Yiwei Wang;Wenyang Li;Tongyang Cao;Shunta Togo;H. Yokoi;Yinlai Jiang
在这项研究中，开发了一种具有耦合肌腱驱动机构的三自由度仿生腰关节。这种仿生腰关节不仅可以保证人机界面的安全，而且可以在不增加重量的情况下增加负载能力。耦合式腱驱动机构使得每个关节的运动由至少两个电机共同驱动，每个关节的最大扭矩为电机最大输出扭矩的3倍。仿生腰关节具有与人体腰部相似的运动学特性，包括自由度（DOF）和运动范围（ROM）。通过一种新颖的机构解决了同一旋转关节中耦合和解耦共存的问题，该机构可以进一步促进耦合腱驱动机构的多功能性。实验验证了腰部的基本动作和特征。
In this study, a 3 degree-of-freedom bionic waist joint was developed with coupled tendon-driven mechanism. This bionic waist joint can not only ensure the safety of the human-robot interface, but also increase the load capacity without increasing the weight. The coupled tendon-driven mechanism enables the motion of each joint to be driven by at least two motors together, and enables a maximum torque of 3 times the maximum motor output torque at each joint. The bionic waist joint has similar kinematic characteristics to a human waist, including degrees of freedom (DOF) and range of motion (ROM). The problem of coexistence of coupling and decoupling in the same rotating joint was solved with a novel mechanism that can promote further versatility of the coupled tendon-driven mechanism. The basic movements and characteristics of the waist was validated in the experiment.