Design and Performance Analysis of Robotic Vertebral-Disc Unit with Cable-Driven Mechanism

Abstract

The humanoid torso is crucial for the overall performance of a humanoid robot. Developing an effective humanoid spine is essential for enhancing this mechanism. This paper introduces a one-vertebral-disc unit inspired by human spine anatomy. A prototype was created using 3D-printed parts and commercially available components. Two general human-like motions are achieved using two servo motors and two pulleys, reducing the number of servo motors needed. The results indicate that a one-vertebral-disc unit can bend up to 15 degrees. The proposed mechanism functions effectively and successfully mimics human movements. It holds potential for integration into humanoid torsos, enabling efficient performance in human-like tasks in the future.