Three DOF Hybrid Mechanism for Humanoid Robotic Application: Modeling, Design and Realization

被引：11

作者：

Alfayad, S. ^{[1
]}

Ouezdou, F. B. ^{[1
]}

Namoun, F. ^{[2
]}

Bruneau, O. ^{[1
]}

Henaff, P. ^{[1
]}

机构：

[1] LISV, 10-12 Ave Europe, F-78140 Velizy Villacoublay, France

[2] BIA Co, St Honorine, France

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

D O I：

10.1109/IROS.2009.5354811

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper deals with a research work aimed to develop a new three degrees of freedom (DOF) mechanism for humanoid robots. The main idea is to build hybrid (3DOF) mechanism, which avoids the drawbacks of the serial and parallel mechanisms. The new solution has to merge the advantages of both classical (serial and parallel) structures in order to achieve optimal performances. The proposed mechanism can be used as a solution for several modules in I humanoid robot. The hip mechanism is taken as an example to illustrate the contribution of this paper. To evaluate the; performances of the system, simulation of this new mechanism 1 3 carried out with Adams software. Geometrical and Kinematic models are developed and included in the simulation tool. Based biomechanical data, analysis of the new kinematic structure I 3 carried out. The design of the proposed solution is then described. Finally the first prototype developed for the HYDROID. robot's hip is presented. This mechanism is a part of an International patent accepted at INPI- France.

引用

页码：4955 / +

页数：2

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