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On Developing Lightweight Robot-Arm of Anthropomorphic Characteristics

机译：开发轻型机器人 - 拟人特征

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摘要

Design of mechanical structure of the lightweight robot arm with anthropomorphic characteristics is considered in the paper with aim to achieve system performances and appearance closer to the physical properties and capabilities of human limb. In this goal, design solutions of contemporary lightweight robot arms are analyzed. New mechanical structure of robot arm is proposed in this study. The solution proposed takes into account the important biological aspects (structural as well physiological) to a greater extent than the existing constructive solutions. Main objective of the research regards to development of a bi-manual service robotic system of anthropomorphic characteristics. Tendon-driven, biologically-inspired, over-actuated 7 DOFs redundant robotic arm is presented in the paper. Compliant structure of robot arm is needed and enables safe and reliable human-robot interaction. Compliance in the system was achieved by introducing additional passive elastic and damping elements and by means of intelligent control that changes system impedance in a way inspired by human body. Corresponding control-block scheme and CAD-model of the robot-arm mechanical structure are presented in the paper. Simulation results of robot-arm model are presented, too, with aim to validate the concept and technical feasibility.
机译：所述轻型机器人臂与拟人化的特性的机械结构的设计在纸张被认为与目标实现系统性能和外观更接近的物理性质和人类肢体的功能。在这一目标，现代轻质机器人手臂的设计方案进行了分析。机器人手臂的新的机械结构在这项研究中提出。提出的解决方案考虑到了重要的生物学方面（结构，以及生理），以比现有的建设性的解决方案更大的程度。研究关于拟人化特征的双人工服务机器人系统发展的主要目标。腱驱动，生物激发，经致动的自由度7冗余机械臂在本文提出。需要机器人臂的柔顺结构并能够安全可靠人机互动。遵守该系统通过引入额外的被动弹性和阻尼元件以及由智能控制，在由人体启发的方式改变系统阻抗来实现。相应的控制块方案和机器人臂机械结构的CAD模型中的纸被呈现。机器人手臂模型的仿真结果，也与目的，以验证概念和技术可行性。

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