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<p>The wrist unit is crucial in humanoid robots, determining their operational dexterity and precision. To address current challenges such as excessive size, limited Degrees of Freedom (DoFs), and insufficient load capacity, we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy. This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor (BLDC)-ball screw to achieve flexion/extension (F/E) and radial flexion/ulnar deviation (R/U), as along with pronation/supination (P/S) through an end-coupling design. We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist. Additionally, the workspace and motion capabilities of the humanoid wrist were evaluated. A prototype based on this design was built to demonstrate its motion and functional performance, verifying the feasibility and practicality of the humanoid wrist. This research provides a more compact design approach for future humanoid wrist development.</p>

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Design and Experiment of a Compact 3-DOF Humanoid Wrist with High Payload Capacity

  • 期刊论文

  • 发表日期：

    2025年4月2日

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  • Shengyin Wang,
  • Zirong Luo,
  • Shanjun Chen,
  • Yiming Zhu,
  • Haisen Zeng,
  • Jianzhong Shang

摘要

The wrist unit is crucial in humanoid robots, determining their operational dexterity and precision. To address current challenges such as excessive size, limited Degrees of Freedom (DoFs), and insufficient load capacity, we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy. This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor (BLDC)-ball screw to achieve flexion/extension (F/E) and radial flexion/ulnar deviation (R/U), as along with pronation/supination (P/S) through an end-coupling design. We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist. Additionally, the workspace and motion capabilities of the humanoid wrist were evaluated. A prototype based on this design was built to demonstrate its motion and functional performance, verifying the feasibility and practicality of the humanoid wrist. This research provides a more compact design approach for future humanoid wrist development.