Bibliographic Metadata

Design of the upper body of a cost oriented humanoid robot / von Abedin Sutaj
AuthorSutaj, Abedin
CensorKopacek, Peter
PublishedWien, 2017
Description232 Blätter : Illustrationen, Diagramme
Institutional NoteTechnische Universität Wien, Dissertation, 2017
Zusammenfassung in deutscher Sprache
Bibl. ReferenceOeBB
Document typeDissertation (PhD)
Keywords (DE)Mechatronik / Robotic
Keywords (EN)Mechatronic / Robotic
Keywords (GND)Humanoider Roboter / Roboterarm / Effizienz
URNurn:nbn:at:at-ubtuw:1-102050 Persistent Identifier (URN)
 The work is publicly available
Design of the upper body of a cost oriented humanoid robot [6.64 mb]
Abstract (English)

The work is about completing an existing humanoid robot called "Archie". It currently consists of low body including the legs. The main task was to develop a suitable neck and the arms, having the focus at being cost-effective (cost orientation). Following a broad study of literature on the design of different robots, three prototypes compatible to the existing part were developed. With this, the main focus was at preparing a simple construction that may be easily built and have a good dynamic movement. Key advantages of the three prototypes are as follows: Low price and good dynamic characteristics Low weight of the upper body Dimensions and the number of DOF allow the robot to carry out”advanced ” tasks. The thesis begins with summarised clarifications of the existing mechanical and software structure for control and communication, necessary for the following chapters. The three versions (V1, V2, V3) developed for the neck, including the arms, have been described in detail in the chapters to follow, beginning with drawings to the details of the design, calculations and simulations. Other information needed for calculation and production are available in the appendixes. The new prototypes are compared to the existing construction and with each other. The difficulty appeared to find the necessary details for the first one. Prototype V3 shows to be the most optimal

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