Abstract
The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.
Highlights
Children with non-progressive neuromuscular disorders, such as cerebral palsy [1], can have a significant deficit of motor functions and skills, body posture, as well as intellectual and emotional disorders [2]
We suggest low backlash differential gear mechanism that requires small actuators
Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached
Summary
Children with non-progressive neuromuscular disorders, such as cerebral palsy [1], can have a significant deficit of motor functions and skills, body posture, as well as intellectual and emotional disorders [2]. The research was conducted within the project, which develops humanoid robot Marko that represents assistive apparatus in physical therapy for children with cerebral palsy – Fugure 1a. Since the success of therapy depends directly on the time that child spent exercising, it is necessary to find a way to further motivate the child.The aim of the project is to offer the children a partner – robot, with which it will be more interesting for them to exercise and who will be able to demonstrate an exercise that the child cannot perform. In addition to verbal communication, Marko is able to intuitively realize nonverbal communication by moving the characteristic elements of the face – eyebrows, eyes, eyelids, and with the use of LEDs – ears and mouth are changing colors depending on the situational context of the robot. 3 DOFs eyebrows are realized, which is DOFs for the roll axis and 1 DOF for the yaw axis – lifting both eyebrows, 4 DOFs eyeballs, which is 2 DOFs for the yaw axis and 2 DOFs for the pitch axis, and 4 DOFs eyelids for the pitch axis –opening/closing the upper and lower eyelids
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
