基于生物特征的人形干的设计和实验
1Laboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, Italy.
Bioinspiration & biomimetics
|January 23, 2025
概括
一个新的LARMbot干,灵感来自人类解剖学,利用并行电缆驱动的机制来增强人形机器人的移动性. 这种轻量级的设计为复杂的应用提供了灵活的运动和低能耗.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物机械工程 生物机械工程
- 机械设计 机械设计
背景情况:
- 人形干对于机器人运动至关重要.
- 现有的设计可能缺乏生物适应性和效率.
- 人类的干和脊椎解剖学为改进的机器人结构提供了洞察力.
研究的目的:
- 根据生物特征开发一种新的LARMbot干,以提高性能.
- 设计一个平行电缆驱动的机制,用于启动干结构.
- 评估拟议的LARMbot干的工作性能和特性.
主要方法:
- 对人体干和脊椎解剖学的分析.
- 建议并分析使用伺服电机和滑轮的平行电缆驱动 actuation 机制.
- 实施一个闭环控制系统.
- 在三种运动模式中对制造的原型进行实验评估.
主要成果:
- LARMbot的干成功完成了类似人类的动作和完全旋转.
- 最大曲角度达到40度 (类似人类) 和30度 (旋转).
- 记录了低的最大电缆张力 (0.75 N) 和功耗 (20.5 W).
结论:
- LARMbot的干设计简化,轻量化,并且节能.
- 它展示了适合复杂场景的灵活空间运动性能.
- 该设计符合人形机器人体的商业要求.
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