The application of the parallel mechanism is still limited in the humanoid robot fields, and the existing parallel humanoid robot joint has not yet been reflected the characteristics of the parallel mechanism complete...The application of the parallel mechanism is still limited in the humanoid robot fields, and the existing parallel humanoid robot joint has not yet been reflected the characteristics of the parallel mechanism completely, also failed to solve the problem, such as small workspace, effectively. From the structural and functional bionic point of view, a three degrees of freedom（DOFs） spherical parallel mechanism for the shoulder complex of the humanoid robot is presented. According to the structure and kinetic characteristics analysis of the human shoulder complex, 3-PSS/S（P for prismatic pair, S for spherical pair） is chosen as the original configuration for the shouder complex. Using genetic algorithm, the optimization of the 3-PSS/S spherical parallel mechanism is performed, and the orientation workspace of the prototype mechanism is enlarged obviously. Combining the practical structure characteristics of the human shouder complex, an offset output mode, which means the output rod of the mechanism turn to any direction at the point a certain distance from the rotation center of the mechanism, is put forward, which provide possibility for the consistent of the workspace of the mechanism and the actual motion space of the human body shoulder joint. The relationship of the attitude angles between different coordinate system is derived, which establishs the foundation for the motion descriptions under different conditions and control development. The 3-PSS/S spherical parallel mechanism is proposed for the shoulder complex, and the consistence of the workspace of the mechanism and the human shoulder complex is realized by the stuctural parameter optimization and the offset output design.展开更多
The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoul...The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex.A new type biomimetic shoulder complex,which adopts 3-PSS/S（P for prismatic pair,S for spherical pair） spherical parallel mechanism（SPM）,is proposed.The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved.Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism.In addition,the prototype mechanism of the shoulder complex is developed,and the force feedback experiment is conducted to verify the static analysis,which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved.The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51275443)Key Project of Ministry of Education of China(Grant No.212012)+2 种基金Hebei Provincial Natural Science Foundation of China(Grant No.E2012203034)Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20111333120004)Research Fund for Outstanding Youth in Higher Education Institutions of Hebei Province,China(Grant No.Y2011114)
文摘The application of the parallel mechanism is still limited in the humanoid robot fields, and the existing parallel humanoid robot joint has not yet been reflected the characteristics of the parallel mechanism completely, also failed to solve the problem, such as small workspace, effectively. From the structural and functional bionic point of view, a three degrees of freedom（DOFs） spherical parallel mechanism for the shoulder complex of the humanoid robot is presented. According to the structure and kinetic characteristics analysis of the human shoulder complex, 3-PSS/S（P for prismatic pair, S for spherical pair） is chosen as the original configuration for the shouder complex. Using genetic algorithm, the optimization of the 3-PSS/S spherical parallel mechanism is performed, and the orientation workspace of the prototype mechanism is enlarged obviously. Combining the practical structure characteristics of the human shouder complex, an offset output mode, which means the output rod of the mechanism turn to any direction at the point a certain distance from the rotation center of the mechanism, is put forward, which provide possibility for the consistent of the workspace of the mechanism and the actual motion space of the human body shoulder joint. The relationship of the attitude angles between different coordinate system is derived, which establishs the foundation for the motion descriptions under different conditions and control development. The 3-PSS/S spherical parallel mechanism is proposed for the shoulder complex, and the consistence of the workspace of the mechanism and the human shoulder complex is realized by the stuctural parameter optimization and the offset output design.
基金Supported by National Natural Science Foundation of China(Grant No.51275443)Key Project of Ministry of Education of China(Grant No.212012)+2 种基金Hebei Provincial Natural Science Foundation of China(Grant No.E2012203034)Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20111333120004)Research Fund for Outstanding Youth in Higher Education Institutions of Hebei Province,China(Grant No.Y2011114)
文摘The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex.A new type biomimetic shoulder complex,which adopts 3-PSS/S（P for prismatic pair,S for spherical pair） spherical parallel mechanism（SPM）,is proposed.The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved.Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism.In addition,the prototype mechanism of the shoulder complex is developed,and the force feedback experiment is conducted to verify the static analysis,which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved.The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.
