A Novel Bio-Inspired 3DOF Spherical Robotic Manipulator

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 interaction and simplifies control processes. By directly transmitting motion from the motors, the platform replicates the ball and socket mobility observed in biological joints, while minimizing mechanical losses and optimizing energy efficiency, thereby ensuring superior performance in 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.