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Research Papers

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

[+] Author and Article Information
Samer Alfayad

Associate Professor
LISV Laboratory,
Paris-Saclay University,
EA 4048 UVSQ,
10-12 Avenue de l'Europe,
Vélizy 78140, France
e-mail: samer.alfayad@lisv.uvsq.fr

Ahmad M. Tayba

LISV Laboratory,
Paris-Saclay University,
EA 4048 UVSQ,
10-12 Avenue de l'Europe,
Vélizy 78140, France
e-mail: ahmad.tayba@lisv.uvsq.fr

Fethi B. Ouezdou

Professor
LISV Laboratory,
Paris-Saclay University,
EA 4048 UVSQ,
10-12 Avenue de l'Europe,
Vélizy 78140, France
e-mail: ouezdou@lisv.uvsq.fr

Faycal Namoun

President of BIA
ZA Les Boutriers,
8 rue de l'Hautil,
Conflans fin d'Oise 78000, France
e-mail: f.namoun@bia.fr

1Corresponding author.

Manuscript received September 25, 2015; final manuscript received March 18, 2016; published online April 15, 2016. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 8(4), 041017 (Apr 15, 2016) (12 pages) Paper No: JMR-15-1281; doi: 10.1115/1.4033157 History: Received September 25, 2015; Revised March 18, 2016

This paper deals with a research work that aims to develop a new three degrees-of-freedom (DoF) hybrid mechanism for humanoid robotics application. The proposed hybrid mechanism can be used as a solution not only for several modules in humanoid robots but also for other legged robots such as quadrupeds and hexapods. Hip and shoulder mechanisms are taken as examples in this paper; torso and spine mechanisms, too, can be based on the proposed solutions. In this paper, a detailed analysis of the required performances of the hip and shoulder mechanisms is first carried out. Then, using a kinematic synthesis, a novel solution for the hip mechanism is proposed based on one rotary and two linear actuators. Improving this solution allows us to fulfill the requirements induced by the large motion ranges of the shoulder module, leading to a new management of the linear actuators contributions in the motion/force achievement process. Kinematic and geometrical models of a generic hybrid mechanism are achieved and used to get the optimized solutions of both hybrid mechanisms addressed in this paper.

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References

Figures

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Fig. 8

Hip hybrid mechanism

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Fig. 9

New generic hybrid mechanism with all joint axis and notations

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Fig. 7

Proposed solution. Two linear actuators were used to produce the rotations at the output. Pistons in the XY and XZ planes are the projections of the linear actuators.

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Fig. 6

Rod–crank system with two outputs

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Fig. 5

Rod–crank systems

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Fig. 4

New generic hybrid mechanism

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Fig. 3

Pitch, yaw, and roll axis regard to the three classical plans used for biped motion definitions

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Fig. 2

Hip angles during gait cycle

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Fig. 1

Adopted primitives for the hip and shoulder modules of HYDROïD: (a) shoulder part, (b) hip part, and (c) HYDROïD with its hip and shoulder mechanisms

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Fig. 10

Closed loops and broken joints

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Fig. 15

Variation of the maximum negative torque around Y-axis and Z-axis

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Fig. 16

Variation of the extending length for linear actuator 1 with different initial centers position

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Fig. 17

Variation of the extending length for linear actuator 2 with different initial centers position

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Fig. 18

Variation of the retracting length for linear actuator 1 with different initial centers position

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Fig. 11

Quasi-static torque τy+ function of the end-effector yaw and roll angles

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Fig. 12

Retracting and extending linear actuator configurations

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Fig. 13

Variation spheres for the linear actuators attachment centers and two different configurations

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Fig. 14

Variation of the maximum positive torque around Y-axis and Z-axis

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Fig. 19

Variation of the retracting length for linear actuator 2 with different initial centers position

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Fig. 20

Designed solution configuration limits of the new shoulder prototype: (a) CAD of the designed shoulder mechanism, (b) yaw lower limit, (c) yaw upper limit, (d) roll lower limit, and (e) yaw upper limit

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