An Anthropometric Arm for the Humanoid Robot: Design and Analysis of the Tyche-Arm

This paper is concerned with the development of an anthropometric robot arm for the humanoid robot – Tyche. The design was based on physiology and anthropometry of the human arm. The Tyche-arm uses a skew-pantograph mechanism, as the control device, that helps in magnifying the input. The link lengths of the structure are determined based on topological studies and avoidance of the singularity condition. A fault tolerant design for the linear actuator is incorporated in the design. The kinematic and dynamic analyses of the Tyche-arm are performed on the weight lifting activity, with the upper arm fixed in five different positions. The kinematic parameters, axial forces in the links and the torques for each joint are obtained and plotted with respect to time.