Biomimetic shoulder complex based on 3-PSS/S spherical parallel mechanism
作者： Yulei Hou , Xinzhe Hu , Daxing Zeng , Yulin Zhou
DOI: 10.3901/CJME.2014.0820.137
关键词: Mechanism (engineering) 、 Engineering 、 Topology 、 Point (geometry) 、 Orientation (geometry) 、 Humanoid robot 、 Simulation 、 Rotation (mathematics) 、 Workspace 、 Coordinate system 、 Offset (computer science)
摘要: The application of the parallel mechanism is still limited in humanoid robot fields, and existing joint has not yet been reflected characteristics completely, also failed to solve problem, such as small workspace, effectively. From structural functional bionic point view, a three degrees freedom(DOFs) spherical for shoulder complex presented. According structure kinetic analysis human complex, 3-PSS/S(P prismatic pair, S pair) chosen original configuration shouder complex. Using genetic algorithm, optimization 3-PSS/S performed, orientation workspace prototype enlarged obviously. Combining practical an offset output mode, which means rod turn any direction at certain distance from rotation center mechanism, put forward, provide possibility consistent actual motion space body joint. relationship attitude angles between different coordinate system derived, establishs foundation descriptions under conditions control development. proposed consistence realized by stuctural parameter design.
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