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Erschienen in:
2009 | OriginalPaper | Buchkapitel
New Concept for Wrist Design of the Humanoid Robot ARMAR
verfasst von : Albert Albers, Jens Ottnad, Christian Sander
Erschienen in: Advances in Robotics Research
Verlag: Springer Berlin Heidelberg
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The development of a humanoid robot within the scope of the collaborative research centre 588 has the objective of creating a machine that can cooperate with humans closely. In contrast to industrial robots – for which mechanical rigidity, precision or high velocities are primary requirements – the key aspects here are prevention of hazards to users, a motion space that corresponds to that of human beings, and a lightweight design. In order to meet these requirements, the robot must have humanlike appearance, motion space, and dexterity. This article gives insight into the design of a new wrist for the next generation of the humanoid robot ARMAR. The goals of the development project are both to improve the motion space and to achieve a humanlike appearance. The new mechanical design is described in detail completed by a study of a first prototype.