Abstract
The development of a humanoid robot within the scope of the Collaborative Research Center 588 (SFB 588) has the objective of creating a machine that can cooperate with humans closely. For designers, computer scientists and me- chanical and electrical engineers this development area presents great challenges. In contrast to commercial industrial ro- bots - for which mechanical rigidity, precision, high velocities and accelerations are primary requirements - the key aspects here are prevention of hazards to users, a motion space that corresponds to that of human beings, and a lightweight design. In order to meet these requirements, the robot must have humanlike appearance, motion space, and dexterity. Additionally, its kinematics should be familiar to the user, and its motions predictable, so as to encourage inexperienced persons to inter- act with the machine. The human spine offers great flexibility and is loaded with the weight of at least the whole upper body. On this account the emulation of the human upper body movement describes one of the most advanced issues in hu- manoid robot design. For the next generation of the humanoid robot ARMAR, a new concept to achieve a better flexibility in the robot's upper body movement has been done. This new torso-joint offers high stiffness, better accuracy and simulta- neously reduces weight and construction volume. Spring elements are used to save energy and to support the engines. In this paper the new mechanical design and first calculated results, considering energy saving potential and stiffness, are de- scribed in detail.
Highlights
Robots are widely spread in the industry
On the contrary humanoid robots are only available as prototypes which can be traced back to the different requirements
The key goal for humanoid robots is not accuracy, but the ability to cooperate with humans
Summary
Robots are widely spread in the industry They generally have to meet requirements such as high payload, stiffness, accuracy, repeatability, acceleration and a high speed. Their design and function was adequate tested by thousands of products. The robot's kinematic properties and range of movements must be adjusted to humans[1]. One way to realize the upper body movement is the so called "Torso-Joint". It offers several degrees of freedom in the upper body by a compact construction. Thereby the upper body motion can be distinguished generally into three degrees of freedom (DOF): Pitch, forward/ backward deflection of the spine. The new mechanical design is described in detail completed by a design concept of a prototype
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
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 call
