Design and Implementation of Small-sized 3D Printed Surena-Mini Humanoid Platform

This paper describes the design and implementation of a small-sized 3D printed humanoid robotic platform. Surena-Mini is the first small-sized humanoid robot which is fabricated completely with 3D printing technology. Because of the flexibility of 3D printing technology, Surena-Mini can be assigned with both human proportions and aesthetic appeals. The choice of using 3D printed plastic parts for all mechanical components not only simplifies the mechanical design process and the manufacture of the robot, but also reduces the cost and the weight of Surena-Mini humanoid which are important characteristics in small-sized humanoid robots. Surena-Mini has a total of 23 degrees of freedom with a height of 53 [cm] and weight 3.3 [kg]. The main objective of Surena-Mini is to be a humanoid robotic platform for research and education purposes to accelerate academic research. Consequently, researchers can then focus only on the challenges in which they are interested. First of all, design concepts, specifications and mechanical design of Surena-Mini are presented. Furthermore, various experimental tests are investigated on fabricated robots in order to verify the performance of the implemented humanoid robot.