Saved in:
| Hovedforfatter: | |
|---|---|
| Format: | Recurso digital |
| Sprog: | |
| Udgivet: |
Zenodo
2026
|
| Fag: | |
| Online adgang: | https://doi.org/10.5281/zenodo.19128792 |
| Tags: |
Tilføj Tag
Ingen Tags, Vær først til at tagge denne postø!
|
Indholdsfortegnelse:
- <p>This paper presents an original design concept for a friction-drive spherical hip actuator intended for humanoid robotic applications. The mechanism uses two spring-loaded, rubber-tired wheels mounted orthogonally within a femoral head, pressing against a Kevlar-lined acetabular socket to generate multi-axis torque within a single spherical joint envelope. Three degrees of freedom are achieved without stacked servo axes.</p> <p>The work includes kinematic analysis, torque transmission modelling, slip condition derivation, and comparison with conventional servo-based approaches. Passive position retention under power loss is identified as a key safety advantage of the design.</p> <p>This mechanism was conceived during the independent development of Anaxia, a low-budget humanoid bipedal robot, by the author as a Class 12 student project.</p> <p>CAD model (STEP format) included.</p> <p>The author welcomes critique, suggestions, and collaboration. Contact: <a href="mailto:uk6570139@gmail.com">uk6570139@gmail.com</a></p>