Design, Analysis, and Construction of a 2RSS-1U Compact, Singularity Free Humanoid Robot Wrist Mechanism

Abstract

In this paper, we proposed a 2RSS – 1U wrist mechanism for a humanoid robot that is inspired by biological wrist structure. The proposed parallel mechanism is mainly designed to be lightweight and compact to be placed in a human-size robotic arm. The design variables of the mechanism were defined through an optimization problem that guarantees minimum singular points in its workspace. Kinematic analysis of the mechanism, including IK and FK, was done to calculate the workspace and analyze the singularity of the proposed wrist structure. This cost-effective, singularity-free, and stiff mechanism was then constructed and tested for several simulation cases.