Kinematics and Working Space Analysis of a Humanoid Shoulder Joint

doi:10.3969/j.issn.1000-1093.2019.02.019

Abstract

Abstract: A humanoid shoulder joint based on spherical 5R parallel mechanism is proposed according to the structural characteristics of human shoulder joint. The inverse position solution of parallel mechanism is derived through the idea of the Paden-Kahan sub-problem. A kinematics analysis method of the asymmetric parallel mechanism with few degrees of freedom is given based on the screw theory and the product of exponentials formula in combination with the direct method and the imaginary mechanism method, and the velocity jacobian matrix of parallel mechanism is obtained. The iterative sampling optimization method for multi-parameter is used to analyze the relationship between the evaluation index of working space and the structural parameter of the mechanism. A reasonable set of structural parameters is selected in consi- dering the processing assembly process. The research results show that the humanoid shoulder joint is compact, and has a large working space and conforms to the kinematical characteristics of human shoulder joint. Key

Key words: humanoidshoulderjoint, spherical5Rparallelmechanism, Jacobianmatrix, workingspace, parameteroptimization

CLC Number:

SUN Peng， LI Yanbiao, GUO Mingfei. Kinematics and Working Space Analysis of a Humanoid Shoulder Joint[J]. Acta Armamentarii, 2019, 40(2): 384-394.

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第40卷
第2期2019 年2月兵工学报ACTA
ARMAMENTARIIVol.40No.2Feb.2019

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