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Social humanoid robot SARA: Development and realization of the shrug mechanism
Pencic, M.1; Cavic, M.1; Borovac, B.1; Lu ZL(卢振利)2,3
作者部门机器人学研究室
会议名称4th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2018)
会议日期August 11-13, 2018
会议地点Udine, Italy
会议录名称Mechanisms and Machine Science: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics
出版者Springer Verlag
出版地Berlin
2018
页码369-377
收录类别EI
EI收录号20183705790677
产权排序3
ISSN号2211-0984
关键词Non-verbal communication Shrug mechanism Kinematic-dynamic analysis Optimal synthesis Mechanical design
摘要One of the basic requirements of socially interactive robots is that they are able to effectively communicate, verbally and non-verbally. In addition to communication via speech, non-verbal communication of the robot is of utmost importance enabling different informations to be communicated in a simple and intuitive manner as well as expressing emotions. The paper presents the development and realization of the shrug mechanism as an addition to the assortment of non-verbal communication of socially interactive robots. The realized shrug mechanism has 1 DOF and enables lifting/lowering both shoulders together. It consists of a ballscrew shaft/nut mechanism that is coupled with a six-link planar lever mechanism. Within the kinematic-dynamic analysis, the basic parameters of the lever mechanism are defined – driving force on the input link, the vertical stroke of the end point of the shoulder and the dynamic efficiency of the lever mechanism. By optimal synthesis the driving force on the input link is reduced and, at the same time, the stroke of the input link is the smallest, while the stroke of the output links is the largest. That is why the movement of shoulders shrug is fast and short-termed, which was the basic requirement for realization of a movement that largely resembles to human-like movement. In addition, the mechanism is efficient in all positions during motion because the values of the transmission angle are within the prescribed values for the lever mechanisms. Ballscrew shaft/nut mechanism, besides enabling additional torque reduction, is also low backlash which is significant for motion control. The realized shrug mechanism enables high speed of shoulder shrug for small driving torque, has low backlash and high efficiency, compact design and small mass and dimensions.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22738
专题机器人学研究室
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
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Pencic, M.,Cavic, M.,Borovac, B.,et al. Social humanoid robot SARA: Development and realization of the shrug mechanism[C]. Berlin:Springer Verlag,2018:369-377.
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