Innovation of a humanoid robotic wrist

Abstract

Combining human and robot into a particular structure put forward extraordinary opportunities for generating a new generation of knowledge. The idea of producing a mechanism that can strictly collaborate with humans. This advance spot presents innovative challenges for engineers and designers. On the contrary, to industrial robotics meant for which mechanical stiffness and rigidity, accuracy and high velocities are most important requirements the solution feature. Here is a movement freedom that matches to that of the human people, avoidance of risk to users and a lightweight mechanism. In order to achieve these requirements the robot should have a human like appearance, same workspace, dexterity and the kinematics should be common to the user. This article presents a new design of a robotic arm wrist for the next development of humanoid robots, and it is a part of an on-going project that involves a 7-DOF robotic arm powered by electrical actuators and has a new hybrid structure. The aim of this research is to achieve a human like wrist that has the same number of degree of freedom and improves the workspace. The new mechanism of the wrist is discussed in details in the article.