This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.
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e-mail: samer.alfayad@lisv.uvsq.fr
e-mail: ouezdou@lisv.uvsq.fr
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February 2011
Research Papers
New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments
Samer Alfayad,
Samer Alfayad
LISV Laboratory,
e-mail: samer.alfayad@lisv.uvsq.fr
University of Versailles Saint Quentin
, 10-12 Avenue de l’Europe, 78140 Vélizy, France
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Fethi B. Ouezdou,
Fethi B. Ouezdou
Professor
LISV Laboratory,
e-mail: ouezdou@lisv.uvsq.fr
University of Versailles Saint Quentin
, 10-12 Avenue de l’Europe, 78140 Vélizy, France
Search for other works by this author on:
Faycal Namoun
Faycal Namoun
President
Search for other works by this author on:
Samer Alfayad
LISV Laboratory,
University of Versailles Saint Quentin
, 10-12 Avenue de l’Europe, 78140 Vélizy, Francee-mail: samer.alfayad@lisv.uvsq.fr
Fethi B. Ouezdou
Professor
LISV Laboratory,
University of Versailles Saint Quentin
, 10-12 Avenue de l’Europe, 78140 Vélizy, Francee-mail: ouezdou@lisv.uvsq.fr
Faycal Namoun
President
J. Mech. Des. Feb 2011, 133(2): 021005 (13 pages)
Published Online: January 25, 2011
Article history
Received:
July 18, 2010
Revised:
December 2, 2010
Online:
January 25, 2011
Published:
January 25, 2011
Citation
Alfayad, S., Ouezdou, F. B., and Namoun, F. (January 25, 2011). "New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments." ASME. J. Mech. Des. February 2011; 133(2): 021005. https://doi.org/10.1115/1.4003250
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