Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug
	Cavic, M.; Borovac, B.; Lu ZL(卢振利); Pencic, M.; Rackov, M.; Zhang X(张鑫); Liu JG(刘金国)
刊名	Mechanisms and Machine Science
	2018
卷号	57 页码:37-45
关键词	Kinematic-dynamic analysis Cam-worm mechanism Robot shrug Non-verbal communication
ISSN号	2211-0984
通讯作者	Pencic, M.
产权排序	2
中文摘要	Having in mind that humans use non-verbal communication extensively is very important to enable social robots with this capacity. There are two basic ways how it can be expressed. First one is by facial expressions by appropriate moving face parts, like eyebrows, eyeballs, eyelids, lips, either as manufactured real parts or by presenting them on screen—combining them is also possible. The second way of non-verbal communication is by gestures. This paper presents the kinematic-dynamic analysis of shrug mechanism for humanoid robots. Based on the set requirements, the cam-worm mechanism that has 1 DOF and enables the simultaneous shrug of both shoulders is proposed. It consists of a worm which is meshed with two worm gears whose directions of rotation are opposite and the two cam mechanisms whose input links—cams, are rigidly attached to the worm gears. Within the kinematic-dynamic analysis, the cam profile and the worm parameters are defined and the torque on the cam/worm gear and the driving torque of the complete cam-worm mechanism are determined. The cam mechanism has a high efficiency in all positions because the values of the pressure angle are within the prescribed ones during the entire movement. Worm mechanism enables a significant reduction of the driving torque and has acceptable efficiency. The rotation range of worm gear/cam is small and the movement of mechanism is very fast wherefore the shrug speed is large, which was one of the main requirement for realization.
收录类别	EI
语种	英语
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21867]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liu JG(刘金国)
作者单位	1.School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia
推荐引用方式 GB/T 7714	Cavic, M.,Borovac, B.,Lu ZL,et al. Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug[J]. Mechanisms and Machine Science,2018,57:37-45.
APA	Cavic, M..,Borovac, B..,Lu ZL.,Pencic, M..,Rackov, M..,...&Liu JG.(2018).Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug.Mechanisms and Machine Science,57,37-45.
MLA	Cavic, M.,et al."Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug".Mechanisms and Machine Science 57(2018):37-45.