TY - GEN
T1 - Design and workspace analysis of a light weight and high stiffness arm
AU - Li, Jing
AU - Huang, Qiang
AU - Yu, Zhangguo
AU - Xu, Wei
AU - Chen, Xuechao
AU - Ma, Gan
PY - 2011
Y1 - 2011
N2 - Most researchers have focused on biped walking control, gait pattern planning, and high stiffness design of legs especially in early years of humanoid research. In this paper, an anthropomorphic arm is designed in order to realize some complicated manipulations which involves light weight, high stiffness, and enough workspace. Light weight and high stiffness which contributes much to preventing the humanoid from tipping over and to achieving acceptable precision are mainly realized by means of modular design, dynamic simulation, and finite element analysis. Workspace related much to complicated manipulations is analyzed according to robot arm mechanism and the effects on the stability of the humanoid robot. Experiments are finally performed to verify the characteristics of the arm.
AB - Most researchers have focused on biped walking control, gait pattern planning, and high stiffness design of legs especially in early years of humanoid research. In this paper, an anthropomorphic arm is designed in order to realize some complicated manipulations which involves light weight, high stiffness, and enough workspace. Light weight and high stiffness which contributes much to preventing the humanoid from tipping over and to achieving acceptable precision are mainly realized by means of modular design, dynamic simulation, and finite element analysis. Workspace related much to complicated manipulations is analyzed according to robot arm mechanism and the effects on the stability of the humanoid robot. Experiments are finally performed to verify the characteristics of the arm.
KW - anthropomorphic arm
KW - high stiffness
KW - light weight
KW - workspace analysis
UR - http://www.scopus.com/inward/record.url?scp=81055149895&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985632
DO - 10.1109/ICMA.2011.5985632
M3 - Conference contribution
AN - SCOPUS:81055149895
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 64
EP - 68
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -