Social humanoid robot SARA: Development and realization of the shrug mechanism

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	Social humanoid robot SARA: Development and realization of the shrug mechanism
	Pencic, M.1; Cavic, M.1; Borovac, B.1; Lu ZL(卢振利)2,3
	2018
会议日期	August 11-13, 2018
会议地点	Udine, Italy
关键词	Non-verbal communication Shrug mechanism Kinematic-dynamic analysis Optimal synthesis Mechanical design
页码	369-377
英文摘要	One of the basic requirements of socially interactive robots is that they are able to effectively communicate, verbally and non-verbally. In addition to communication via speech, non-verbal communication of the robot is of utmost importance enabling different informations to be communicated in a simple and intuitive manner as well as expressing emotions. The paper presents the development and realization of the shrug mechanism as an addition to the assortment of non-verbal communication of socially interactive robots. The realized shrug mechanism has 1 DOF and enables lifting/lowering both shoulders together. It consists of a ballscrew shaft/nut mechanism that is coupled with a six-link planar lever mechanism. Within the kinematic-dynamic analysis, the basic parameters of the lever mechanism are defined – driving force on the input link, the vertical stroke of the end point of the shoulder and the dynamic efficiency of the lever mechanism. By optimal synthesis the driving force on the input link is reduced and, at the same time, the stroke of the input link is the smallest, while the stroke of the output links is the largest. That is why the movement of shoulders shrug is fast and short-termed, which was the basic requirement for realization of a movement that largely resembles to human-like movement. In addition, the mechanism is efficient in all positions during motion because the values of the transmission angle are within the prescribed values for the lever mechanisms. Ballscrew shaft/nut mechanism, besides enabling additional torque reduction, is also low backlash which is significant for motion control. The realized shrug mechanism enables high speed of shoulder shrug for small driving torque, has low backlash and high efficiency, compact design and small mass and dimensions.
产权排序	3
会议录	Mechanisms and Machine Science: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	2211-0984
ISBN号	978-3-030-00364-7
WOS记录号	WOS:000460585000044
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/22738]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Pencic, M.
作者单位	1.Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia 2.School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Pencic, M.,Cavic, M.,Borovac, B.,et al. Social humanoid robot SARA: Development and realization of the shrug mechanism[C]. 见:. Udine, Italy. August 11-13, 2018.