On Developing Lightweight Robot-Arm of Anthropomorphic Characteristics

  • A. Rodić
  • B. Miloradović
  • S. Popić
  • Đ. Urukalo
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 38)


Design of mechanical structure of the lightweight robot arm with anthropomorphic characteristics is considered in the paper with aim to achieve system performances and appearance closer to the physical properties and capabilities of human limb. In this goal, design solutions of contemporary lightweight robot arms are analyzed. New mechanical structure of robot arm is proposed in this study. The solution proposed takes into account the important biological aspects (structural as well physiological) to a greater extent than the existing constructive solutions. Main objective of the research regards to development of a bi-manual service robotic system of anthropomorphic characteristics. Tendon-driven, biologically-inspired, over-actuated 7 DOFs redundant robotic arm is presented in the paper. Compliant structure of robot arm is needed and enables safe and reliable human-robot interaction. Compliance in the system was achieved by introducing additional passive elastic and damping elements and by means of intelligent control that changes system impedance in a way inspired by human body. Corresponding control-block scheme and CAD-model of the robot-arm mechanical structure are presented in the paper. Simulation results of robot-arm model are presented, too, with aim to validate the concept and technical feasibility.


Bio-inspired anthropomimetic system Lightweight robot-arm Over-actuated system Tendon-driven joint Spherical joint 



Research in the paper was funded by the Serbian Ministry of Education, Science and Technology Development under the grants TR-35003 and III-44008. It is partially supported by the SNSF IP project IZ74Z0_137361/1 as well by Serbia-China bilateral project under the grant 451-03-02338/2012-14/12.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • A. Rodić
    • 1
  • B. Miloradović
    • 1
  • S. Popić
    • 1
  • Đ. Urukalo
    • 1
  1. 1.Mihailo Pupin InstituteUniversity of BelgradeBelgradeSerbia

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