Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator
As the existing bionic humanoid manipulator has large inertia impaction， poor continuity and stability， a novel humanoid manipulator is presented. The humanoid arm can simulate the wrist joint， elbow joint and shoulder joint. The (2SPS/U)&(2SPS/RR) two-stage coupling parallel mechanism is us...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-03-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.011 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547259310768128 |
|---|---|
| author | Zhiguang Ma Kangkang Wang Leile Zhang Shaowei Jia Can Chen |
| author_facet | Zhiguang Ma Kangkang Wang Leile Zhang Shaowei Jia Can Chen |
| author_sort | Zhiguang Ma |
| collection | DOAJ |
| description | As the existing bionic humanoid manipulator has large inertia impaction， poor continuity and stability， a novel humanoid manipulator is presented. The humanoid arm can simulate the wrist joint， elbow joint and shoulder joint. The (2SPS/U)&(2SPS/RR) two-stage coupling parallel mechanism is used to drive each joint action In order to obtain its inverse and forward kinematics， the closed vector method and Newton iteration method are used to calculate the positive and negative kinematics solutions of the two-stage parallel mechanism， and then the mechanism configuration of the whole artificial arm is simplified. Based on the D-H method， the forward and inverse position solutions of the whole mechanism are given and validated. |
| format | Article |
| id | doaj-art-bd597169780e4a90a4ad7c614866f826 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-bd597169780e4a90a4ad7c614866f8262025-01-10T14:53:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-03-014564687492871Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid ManipulatorZhiguang MaKangkang WangLeile ZhangShaowei JiaCan ChenAs the existing bionic humanoid manipulator has large inertia impaction， poor continuity and stability， a novel humanoid manipulator is presented. The humanoid arm can simulate the wrist joint， elbow joint and shoulder joint. The (2SPS/U)&(2SPS/RR) two-stage coupling parallel mechanism is used to drive each joint action In order to obtain its inverse and forward kinematics， the closed vector method and Newton iteration method are used to calculate the positive and negative kinematics solutions of the two-stage parallel mechanism， and then the mechanism configuration of the whole artificial arm is simplified. Based on the D-H method， the forward and inverse position solutions of the whole mechanism are given and validated.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.011Humanoid manipulatorParallel mechanismKinematics |
| spellingShingle | Zhiguang Ma Kangkang Wang Leile Zhang Shaowei Jia Can Chen Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator Jixie chuandong Humanoid manipulator Parallel mechanism Kinematics |
| title | Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator |
| title_full | Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator |
| title_fullStr | Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator |
| title_full_unstemmed | Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator |
| title_short | Design and Kinematics Analysis of (2SPS/U)&(2SPS/RR) Type Parallel Humanoid Manipulator |
| title_sort | design and kinematics analysis of 2sps u amp 2sps rr type parallel humanoid manipulator |
| topic | Humanoid manipulator Parallel mechanism Kinematics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.011 |
| work_keys_str_mv | AT zhiguangma designandkinematicsanalysisof2spsuamp2spsrrtypeparallelhumanoidmanipulator AT kangkangwang designandkinematicsanalysisof2spsuamp2spsrrtypeparallelhumanoidmanipulator AT leilezhang designandkinematicsanalysisof2spsuamp2spsrrtypeparallelhumanoidmanipulator AT shaoweijia designandkinematicsanalysisof2spsuamp2spsrrtypeparallelhumanoidmanipulator AT canchen designandkinematicsanalysisof2spsuamp2spsrrtypeparallelhumanoidmanipulator |