TY - GEN
T1 - Kinematic Analysis and Optimal Design of 2SPS-RR Parallel Wrist in Humanoid Robot
AU - Peng, Siyuan
AU - Li, Yaming
AU - Xu, Peng
AU - Li, Bing
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - Humanoid robots are a hot research topic in robotics nowadays and show broad application prospects. Among the various components of humanoid robots, the wrist is essential as it enables the completion of complex motions. Compared to the serial configuration, the wrists with parallel configurations show the advantage of compactness and high stiffness. In this paper, the kinematic and optimal design of a robotic wrist with a 2SPS-RR parallel mechanism are performed. Firstly, the position, velocity, and singularity are analyzed and the workspace is presented. Secondly, an optimization model that considers multiple performance indexes is proposed. The function is simple to calculate, which takes into account the effects of the area of the workspace, the expected boundary and the singular trajectory. Then, a global optimization of the mechanism is conducted based on the design parameters, and a set of optimal parameter values is obtained. The results indicate that the desired workspace of the mechanism is distant from the singular trajectory with the optimized parameters, and the coverage of the workspace relative to the desired workspace is considerable. Furthermore, the sensitivity and condition number of the design parameters are analyzed. Finally, the driving force and driving speed of the mechanism are analyzed in conjunction with the optimal parameters, which provides a theoretical reference for the design of the humanoid robot wrist.
AB - Humanoid robots are a hot research topic in robotics nowadays and show broad application prospects. Among the various components of humanoid robots, the wrist is essential as it enables the completion of complex motions. Compared to the serial configuration, the wrists with parallel configurations show the advantage of compactness and high stiffness. In this paper, the kinematic and optimal design of a robotic wrist with a 2SPS-RR parallel mechanism are performed. Firstly, the position, velocity, and singularity are analyzed and the workspace is presented. Secondly, an optimization model that considers multiple performance indexes is proposed. The function is simple to calculate, which takes into account the effects of the area of the workspace, the expected boundary and the singular trajectory. Then, a global optimization of the mechanism is conducted based on the design parameters, and a set of optimal parameter values is obtained. The results indicate that the desired workspace of the mechanism is distant from the singular trajectory with the optimized parameters, and the coverage of the workspace relative to the desired workspace is considerable. Furthermore, the sensitivity and condition number of the design parameters are analyzed. Finally, the driving force and driving speed of the mechanism are analyzed in conjunction with the optimal parameters, which provides a theoretical reference for the design of the humanoid robot wrist.
KW - Global optimization
KW - Humanoid robot
KW - Parallel configurations
UR - https://www.scopus.com/pages/publications/85218473197
U2 - 10.1007/978-981-96-0771-6_27
DO - 10.1007/978-981-96-0771-6_27
M3 - 会议稿件
AN - SCOPUS:85218473197
SN - 9789819607709
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 366
EP - 380
BT - Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
A2 - Lan, Xuguang
A2 - Mei, Xuesong
A2 - Jiang, Caigui
A2 - Zhao, Fei
A2 - Tian, Zhiqiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
Y2 - 31 July 2024 through 2 August 2024
ER -