Bionic Integration of the Spherical Parallel Shoulder Joint with the Six-Component Force Sensor

Abstract:

Based on the bionics principle, this paper proposed the idea of bionic design of the spherical parallel shoulder joint integrated with the six-component force sensor. The static analysis of the 3-RRS mechanism, which can be taken as a prototype mechanism of shoulder joint of humanoid robot, was carried out. And the relationship figures between the forces and torques acted on each component and the pose of the mechanism were obtained. The measurement of the external load and driving torques, which was employed to judge operability of arm to the target object under arbitrary pose, was realized by introducing resistance measurement method in the mechanism. The bionic integration of the shoulder joint with six-component force sensor made arm has some functions such as to avoid overload and singular area voluntarily, and realize self-protection. The contents of this paper lay a foundation of compliant control of humanoid robot arm and have important significance and value in engineering.

• Periodical: Applied Mechanics and Materials (Volumes 66-68)
• Pages: 1225-1230
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.66-68.1225
• Online since: July 2011
• Authors: Yu Lin Zhou, Yu Lei Hou, Xue Song Qiu
• Keywords: Bionic Integration, Shoulder Joint, Six-Component Force Sensor, Spherical Parallel Mechanism

References

[1] M.M. Svinin, M. Uchiyama. Optimal geometric structures of force/torque sensors. International Journal of Robotics Research. 1995, 14(6): 560-573.

DOI: 10.1177/027836499501400603

[2] Gab-soon Kim. Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot. Sensors and Actuators. A: Physical. 2007, 133: 27-34.

DOI: 10.1016/j.sna.2006.03.038

[3] Dieter Vischer, Oussama Khatib. Design and development of high-performance torque -controlled joint. IEEE Transactions on robotics and automation. 1995, 11: 537-544.

DOI: 10.1109/70.406938

[4] Bong-sook Kim, Seung-kook Yun, Sung-dhul Kang. Development of a joint torque sensors fully integrated with an actuator. ICCAS 2005, Korea, 2005: 1679-1683.

[5] Kazuchiro Kosuge, H. Takuchi, Katsuhida Furuta. Motion control of a robot arm using joint torque sensor. IEEE Transactions on Robotics and Automation. 1990, 6: 258-263.

DOI: 10.1109/70.54743

[6] Feng Gao, Yulong Chen, Binbin Peng, et al. Novel decopled and isotropic 5-axis force/torque robot sensor. Chinese Journal of Mechanical Engineering. 2004, 40(9): 71-74.

DOI: 10.3901/jme.2004.09.071

[7] Kai Xu, Ken Chen, Li Liu, et al. Walking gait compensation algorithm for humanoid robots based on universal force-moment sensors and joint torques. Robotics. 2001, 23(5): 459-466 (in Chinese).

[8] A. Winkler, J. Suchy. Force-guided motion of a 6-DOF industrial robot with a joint space approach. Advanced Robotics. 2006, 20(9): 1067-1084.

DOI: 10.1163/156855306778394049

[9] Qinghua Li, A. Takanishi, I. Kato. A biped walking robot having a ZMP measurement system using universal force-moment sensors. NASA Technical Memorandum. 1990: 1568-1573.

DOI: 10.1109/iros.1991.174736

[10] Yulin Zhou, Lei Liu, Feng Gao. Static full-solutions of spherical mechanism 3-RRR with 3-DOF. Chinese Journal of Mechanical Engineering. 2008, 44(6): 169-176 (in Chinese).

DOI: 10.3901/jme.2008.06.169

[11] Yulin Zhou, Feng Gao. Stiffness analysis of a spherical mechanism 3-RRS with 3-DOF rotations. China Mechanical Engineering. 2008, 19(17): 2017-2023 (in Chinese).