Design and Simulation of a 1-Dof Anthropomorphic Clutched Arm for Humanoid Robots

Abstract

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

Reliable and lightweight primary flight control actuation using magneto-rheological clutches in slippage

“…Back and forth motion of each output is controlled by modulating the amount of transferred torque by two clutches that slip in opposite directions. The use of a single unidirectional rotating power source to control multiple outputs results in an overall lightweight system since the main power source can be designed to share the loads of the outputs or can even be taken from a nearby available mechanical power source [11] [12].…”

A Multiobjective Optimal Path Planning for a 1-DOF Clutched ARM

“…Such a 1-DOF solution is still versatile within a 3D workspace. In previous works (Gu et al, 2010;Gu and Ceccarelli, 2010a), simulations and preliminary experimental tests have validated the feasibility of the design concept. Recently, a prototype has been built with a proper control system.…”

“…Thus, it is possible to design a robotic arm simpler and cheaper, by reducing the number of actuators, as attempted in Nakamura et al (2001), Karbasi et al (2006), and Gu et al (2010). However, the nonholonomic solution in Nakamura et al (2001) increases the control complexity; the Chebychev-Pantograph mechanism in Nava (2006) does not provide a sufficient workspace; the Unidrive Modular Robot system in Karbasi et al (2006) is not suitable for robotic arms; and the Armatron (Carroll,110 GU AND CECCARELLI 2007) is just a toy with no automation built in and no proper payload capability for practical applications.…”

“…At LARM (Laboratory of Robotics and Mechatronics, University of Cassino, Italy), a new robotic arm named as LARM clutched arm (Gu et al, 2010) has been proposed with only a single motor by using a clutch system. Such a 1-DOF solution is still versatile within a 3D workspace.…”

Problems and requirements for a chameleon-like service robot in space station

“…5, by using the clutches, only one motor is used to operate the ball joint, in order to reduce the cost but not to reduce the robot straightly moving speed. At LARM, previous works and experiments on clutched arms have been successfully developed as reported in [13], [14]. Fig.…”