Actuators, Volume 13, Issue 6 (June 2024) – 37 articles
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This paper presents a novel design for humanoid arm mechanisms, with a tripod parallel architecture actuated by linear motors. The design is validated with experimental tests on a prototype to characterize its performance and check its feasibility for implementation in the LARMbot humanoid robot. The design proves successful with a large, singularity-free workspace and a high payload to arm weight ratio. Furthermore, the prototype can be assembled with low-cost commercial components while still maintaining good motion and force performance for the successful integration with the LARMbot design. View this paper
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