Abstract
The LARMbot project intends to create a humanoid robot employing parallel mechanisms that are inspired by human anatomy. Solutions for humanoid arm are investigated combining the advantages of parallel and serial structures, as well as cable-driven architectures. A new solution has been designed for humanoid arm with a low-cost solution and user-oriented operation using commercial components and 3D printing manufacturing. Its feasibility is characterized by an analysis of operation performance via simulation whose reports are discussed also to suggest future improvements for construction and testing a prototype.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ceccarelli, M., Matteo Russo, M., Morales-Cruz, C.: Parallel architectures for humanoid robots. Robotics 9(75). https://doi.org/10.3390/robotics9040075
Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., Fujimura, K.: The intelligent ASIMO: system overview and integration. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2478–2483. https://doi.org/10.1109/IRDS.2002.1041641
Sugano, S., Kato, I.: WABOT-2: autonomous robot with dexterous finger-arm–finger-arm coordination control in keyboard performance. Proc. IEEE Int. Conf. Robot. Autom. 1987, 90–97 (1987). https://doi.org/10.1109/ROBOT.1987.1088025
Kaneko, K., Kaminaga, H., Sakaguchi, T., Kajita, S., Morisawa, M., Kumagai, I., Kanehiro, F.: Humanoid robot HRP-5P: an electrically actuated humanoid robot with high power and wide range joints. IEEE Robot. Autom. Lett. 1. https://doi.org/10.1109/LRA.2019.2896465
Huang, Q., Yu, Z., Chen, X., Zhang, W., Yang, T., Liao, W., Ceccarelli, M.: Historical developments of BHR humanoid robots. Adv. Hist. Stud., Spec. Iss. Hist. Mach. Mech. 8, 79–90 (2019). https://doi.org/10.4236/ahs.2019.81005
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: The NAO humanoid: a combination of performance and affordability. In: Proceedings—IEEE International Conference on Robotics and Automation, Kobe, 2009, pp. 769–774 (2008). arXiv:0807.3223
Sugahara, Y., Hosobata, T., Mikuriya, Y., Sunazuka, H., Lim, H., Takanishi, A.: Realization of dynamic human-carrying walking by a biped locomotor. In: IEEE International Conference on Robotics and Automation, Proceedings. ICRA ’04, vol. 3, pp. 3055–3060. https://doi.org/10.1109/ROBOT.2004.1307526
Ceccarelli, M., Cafolla, D., Russo, M., Carbone, G.: LARMbot humanoid design towards a prototype. MOJ Int. J. Appl. Bionics Biomech. 1(2), 48–49 (2017). https://doi.org/10.15406/mojabb.2017.01.00008
Ceccarelli, M., Russo, M.: Arm mechanism for humanoid robot, patent, IT 102017000021920, Italy (2017)
Fort, A., Ceccarelli, M., Laribi M-A.: Prototype and testing of LARMbot PK arm. In: Advances in Mechanism Design III—Proceedings of TMM 2020, pp. 210–219. Springer, Cham, AG (2020). https://doi.org/10.1007/978-3-030-83594-1_22
Couprie, R., Ceccarelli, M., Laribi, A.: Design of new LARMbot arm based on a cable driven parallel robot. Internship report, University of Poitiers, Poitiers (2022)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Couprie, R., Ceccarelli, M., Laribi, M.A. (2023). Design and Performance of LARMbot Arm V3. In: Doroftei, I., Nitulescu, M., Pisla, D., Lovasz, EC. (eds) Proceedings of SYROM 2022 & ROBOTICS 2022. IISSMM 2022. Mechanisms and Machine Science, vol 127. Springer, Cham. https://doi.org/10.1007/978-3-031-25655-4_31
Download citation
DOI: https://doi.org/10.1007/978-3-031-25655-4_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-25654-7
Online ISBN: 978-3-031-25655-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)