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Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug
Pencic, M.1; Cavic, M.1; Rackov, M.1; Borovac, B.1; Lu ZL(卢振利)2,3
作者部门机器人学研究室
关键词Kinematic-dynamic analysis Cam-worm mechanism Robot shrug Non-verbal communication
发表期刊Mechanisms and Machine Science
ISSN2211-0984
2018
卷号57页码:37-45
收录类别EI
EI收录号20182205261405
产权排序2
资助机构Ministry of Education, Science and Technological Development of the Republic of Serbia under the contract III44008 and by the Provincial Secretariat for Higher Education and Scientific Research of AP Vojvodina under the contract 114-451-2116/2011 ; National Science Foundation of China under the contract 61473283 and by the Chinese State Key Laboratory of Robotics under the contract 2014-O08
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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21890
专题机器人学研究室
通讯作者Pencic, M.
作者单位1.Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia;
2.School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu, China;
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Pencic, M.,Cavic, M.,Rackov, M.,et al. Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug[J]. Mechanisms and Machine Science,2018,57:37-45.
APA Pencic, M.,Cavic, M.,Rackov, M.,Borovac, B.,&Lu ZL.(2018).Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug.Mechanisms and Machine Science,57,37-45.
MLA Pencic, M.,et al."Kinematic-Dynamic analysis of the cam-worm mechanism for humanoid robots shrug".Mechanisms and Machine Science 57(2018):37-45.
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