SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT
Combined with the actual structure and function characteristics of the human hip joint,3-SPS/S（ S for spherical pair,P for prismatic pair） spherical parallel mechanism is chosen as the prototype for the hip joint. After the inverse kinetic solution was solved,the singularity trajectory equations wer...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2017-01-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2017.02.016 |
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| _version_ | 1841535136139575296 |
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| author | HOU YuLei LI ZhiSen WEI XiaoChen ZHOU ZhiYu ZHAO LiuJian ZENG DaXing |
| author_facet | HOU YuLei LI ZhiSen WEI XiaoChen ZHOU ZhiYu ZHAO LiuJian ZENG DaXing |
| author_sort | HOU YuLei |
| collection | DOAJ |
| description | Combined with the actual structure and function characteristics of the human hip joint,3-SPS/S（ S for spherical pair,P for prismatic pair） spherical parallel mechanism is chosen as the prototype for the hip joint. After the inverse kinetic solution was solved,the singularity trajectory equations were established and the singular tracks were plotted. The static equilibrium equations of each component of the mechanism were established using the vector method. The curves of the exerted force on branches with the variety of poses were plotted by numerical examples,and then the mechanics unloading effect of the middle limb was analyzed. Through simulation analysis of the mechanism with ADAMS software,the force-time curves of the hinges fixed to the mechanism ’s branches corresponding to prescribed trajectory were obtained,which verified mechanics unloading function of mechanism. The research contents should possess certain theoretical guiding significance for the development and control of the hip joint of the humanoid robot. |
| format | Article |
| id | doaj-art-371f5defbbbf4d13a9e2f7f148c7e33f |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-371f5defbbbf4d13a9e2f7f148c7e33f2025-01-15T02:34:46ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692017-01-013933334030598207SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINTHOU YuLeiLI ZhiSenWEI XiaoChenZHOU ZhiYuZHAO LiuJianZENG DaXingCombined with the actual structure and function characteristics of the human hip joint,3-SPS/S（ S for spherical pair,P for prismatic pair） spherical parallel mechanism is chosen as the prototype for the hip joint. After the inverse kinetic solution was solved,the singularity trajectory equations were established and the singular tracks were plotted. The static equilibrium equations of each component of the mechanism were established using the vector method. The curves of the exerted force on branches with the variety of poses were plotted by numerical examples,and then the mechanics unloading effect of the middle limb was analyzed. Through simulation analysis of the mechanism with ADAMS software,the force-time curves of the hinges fixed to the mechanism ’s branches corresponding to prescribed trajectory were obtained,which verified mechanics unloading function of mechanism. The research contents should possess certain theoretical guiding significance for the development and control of the hip joint of the humanoid robot.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2017.02.016Hip jointSpherical parallel mechanismSingularityMechanics unloading |
| spellingShingle | HOU YuLei LI ZhiSen WEI XiaoChen ZHOU ZhiYu ZHAO LiuJian ZENG DaXing SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT Jixie qiangdu Hip joint Spherical parallel mechanism Singularity Mechanics unloading |
| title | SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT |
| title_full | SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT |
| title_fullStr | SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT |
| title_full_unstemmed | SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT |
| title_short | SINGULARITY CONFIGURATION AND MECHANICS UNLOADING ANALYSIS FOR 3-SPS/S SPHERICAL PARALLEL MECHANISM OF HIP JOINT |
| title_sort | singularity configuration and mechanics unloading analysis for 3 sps s spherical parallel mechanism of hip joint |
| topic | Hip joint Spherical parallel mechanism Singularity Mechanics unloading |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2017.02.016 |
| work_keys_str_mv | AT houyulei singularityconfigurationandmechanicsunloadinganalysisfor3spsssphericalparallelmechanismofhipjoint AT lizhisen singularityconfigurationandmechanicsunloadinganalysisfor3spsssphericalparallelmechanismofhipjoint AT weixiaochen singularityconfigurationandmechanicsunloadinganalysisfor3spsssphericalparallelmechanismofhipjoint AT zhouzhiyu singularityconfigurationandmechanicsunloadinganalysisfor3spsssphericalparallelmechanismofhipjoint AT zhaoliujian singularityconfigurationandmechanicsunloadinganalysisfor3spsssphericalparallelmechanismofhipjoint AT zengdaxing singularityconfigurationandmechanicsunloadinganalysisfor3spsssphericalparallelmechanismofhipjoint |