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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August 2016
Research-Article
Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots
Samer Alfayad,
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
LISV Laboratory,
Paris-Saclay University,
EA 4048 UVSQ,
10-12 Avenue de l'Europe,
Vélizy 78140, France
e-mail: samer.alfayad@lisv.uvsq.fr
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Ahmad M. Tayba,
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
Paris-Saclay University,
EA 4048 UVSQ,
10-12 Avenue de l'Europe,
Vélizy 78140, France
e-mail: ahmad.tayba@lisv.uvsq.fr
Search for other works by this author on:
Fethi B. Ouezdou,
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
LISV Laboratory,
Paris-Saclay University,
EA 4048 UVSQ,
10-12 Avenue de l'Europe,
Vélizy 78140, France
e-mail: ouezdou@lisv.uvsq.fr
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Faycal Namoun
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
ZA Les Boutriers,
8 rue de l'Hautil,
Conflans fin d'Oise 78000, France
e-mail: f.namoun@bia.fr
Search for other works by this author on:
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
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
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
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
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. Aug 2016, 8(4): 041017 (12 pages)
Published Online: April 15, 2016
Article history
Received:
September 25, 2015
Revised:
March 18, 2016
Citation
Alfayad, S., Tayba, A. M., Ouezdou, F. B., and Namoun, F. (April 15, 2016). "Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041017. https://doi.org/10.1115/1.4033157
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