A tripod-based design with linear actuators is presented with features and performance suitable for humanoid limbs as based on a tripod mechanism architecture. Design compact solutions are developed for arm and leg structures with low-cost Arduino-based controlled operation and market components for a revised version of LARMbot humanoid robot. A general design is then specified in an arm structure with a gripper on a wrist joint and in a leg structure with a foot on an ankle joint. Performance characteristics are characterized in lab tests with suitable large motion range, high payload capacity, and limited power consumption.
Design and Test Validation of Humanoid Tripod-Based Limbs
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2024 ; Cluj-Napoca, Romania June 12, 2024 - June 14, 2024
2024-05-11
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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