Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions
Studying the interactions between biological organisms and their environment provides engineers with valuable insights for developing complex mechanical systems and fostering the creation of novel technological innovations. In this study, we introduce a novel bio-inspired three degrees of freedom (D...
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MDPI AG
2025-01-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/2/8 |
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| author | Suleyman Soltanov Rodney Roberts |
| author_facet | Suleyman Soltanov Rodney Roberts |
| author_sort | Suleyman Soltanov |
| collection | DOAJ |
| description | Studying the interactions between biological organisms and their environment provides engineers with valuable insights for developing complex mechanical systems and fostering the creation of novel technological innovations. In this study, we introduce a novel bio-inspired three degrees of freedom (DOF) spherical robotic manipulator (SRM), designed to emulate the biomechanical properties observed in nature. The design utilizes the transformation of spherical Complex Spatial Kinematic Pairs (CSKPs) to synthesize bio-inspired robotic manipulators. Additionally, the use of screw theory and the Levenberg–Marquardt algorithm for kinematic parameter computation supports further advancements in human–robot interactions and simplifies control processes. The platform directly transmits motion from the motors to replicate the ball-and-socket mobility of biological joints, minimizing mechanical losses, and optimizing energy efficiency for superior spatial mobility. The proposed 3DOF SRM provides advantages including an expanded workspace, enhanced dexterity, and a lightweight, compact design. Experimental validation, conducted through SolidWorks, MATLAB, Python, and Arduino, demonstrates the versatility and broad application potential of the novel bio-inspired 3DOF SRM, positioning it as a robust solution for a wide range of robotic applications. |
| format | Article |
| id | doaj-art-ee7331c580944b75b50d53cf5fadf1ff |
| institution | OA Journals |
| issn | 2218-6581 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-ee7331c580944b75b50d53cf5fadf1ff2025-08-20T02:04:03ZengMDPI AGRobotics2218-65812025-01-01142810.3390/robotics14020008Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot InteractionsSuleyman Soltanov0Rodney Roberts1Department of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USADepartment of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USAStudying the interactions between biological organisms and their environment provides engineers with valuable insights for developing complex mechanical systems and fostering the creation of novel technological innovations. In this study, we introduce a novel bio-inspired three degrees of freedom (DOF) spherical robotic manipulator (SRM), designed to emulate the biomechanical properties observed in nature. The design utilizes the transformation of spherical Complex Spatial Kinematic Pairs (CSKPs) to synthesize bio-inspired robotic manipulators. Additionally, the use of screw theory and the Levenberg–Marquardt algorithm for kinematic parameter computation supports further advancements in human–robot interactions and simplifies control processes. The platform directly transmits motion from the motors to replicate the ball-and-socket mobility of biological joints, minimizing mechanical losses, and optimizing energy efficiency for superior spatial mobility. The proposed 3DOF SRM provides advantages including an expanded workspace, enhanced dexterity, and a lightweight, compact design. Experimental validation, conducted through SolidWorks, MATLAB, Python, and Arduino, demonstrates the versatility and broad application potential of the novel bio-inspired 3DOF SRM, positioning it as a robust solution for a wide range of robotic applications.https://www.mdpi.com/2218-6581/14/2/8bio-inspired roboticsspherical robotic manipulatorhuman–robot interactionscrew theoryLevenberg–Marquardt optimization |
| spellingShingle | Suleyman Soltanov Rodney Roberts Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions Robotics bio-inspired robotics spherical robotic manipulator human–robot interaction screw theory Levenberg–Marquardt optimization |
| title | Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions |
| title_full | Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions |
| title_fullStr | Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions |
| title_full_unstemmed | Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions |
| title_short | Design of a Novel Bio-Inspired Three Degrees of Freedom (3DOF) Spherical Robotic Manipulator and Its Application in Human–Robot Interactions |
| title_sort | design of a novel bio inspired three degrees of freedom 3dof spherical robotic manipulator and its application in human robot interactions |
| topic | bio-inspired robotics spherical robotic manipulator human–robot interaction screw theory Levenberg–Marquardt optimization |
| url | https://www.mdpi.com/2218-6581/14/2/8 |
| work_keys_str_mv | AT suleymansoltanov designofanovelbioinspiredthreedegreesoffreedom3dofsphericalroboticmanipulatoranditsapplicationinhumanrobotinteractions AT rodneyroberts designofanovelbioinspiredthreedegreesoffreedom3dofsphericalroboticmanipulatoranditsapplicationinhumanrobotinteractions |