Optimization and Bionic Design of 3-PCSS/S Spherical Parallel Mechanism for the Shoulder Joint

2015 ◽  
Vol 51 (11) ◽  
pp. 16
Author(s):  
Yulei HOU
Keyword(s):  
Shoulder Joint ◽  
Parallel Mechanism ◽  
Bionic Design ◽  
Spherical Parallel Mechanism

Parameter Optimization Design of a Novel Robot Shoulder Based on the Workspace

2013 ◽  
Vol 749 ◽  
pp. 561-565
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Shoulder Joint ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Structural Parameters ◽  
Connecting Rod ◽  
Spherical Parallel Mechanism ◽  
Kinematic Performance ◽  
Joint Mechanism ◽  
Parameter Optimization Design ◽  
Mechanical Constraint

A robot shoulder joint should have good kinematic performance and workspace, but the structural parameters of shoulder joint directly affect the workspace. In order to increase the workspace of shoulder joint, a novel robot shoulder joint based on 3-DOF orthogonal spherical parallel mechanism is proposed. This paper studied the influence on its workspace affected by the variation of structural parameters of the connecting rod, frame connecting rod, rod diameter of this shoulder joint mechanism. Based on the consideration of mechanical constraint, the objective function of the optimal structural parameters of the shoulder joint is established. Having the maximum the workspace, the structural parameters of shoulder joint are gained.

Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism

2008 ◽  
Vol 51 (3) ◽  
pp. 288-301 ◽  
Author(s):  
HaiTao Liu ◽  
JiangPing Mei ◽  
XueMan Zhao ◽  
Tian Huang ◽  
D. G. Chetwynd
Keyword(s):  
Parameter Estimation ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Spherical Parallel Mechanism

Structural Parameter Optimization for 3-DOF Spherical Parallel Mechanism, Binocular Stereo

2012 ◽  
Vol 11 (7) ◽  
pp. 859-867 ◽  
Author(s):  
Shaorong Xie ◽  
Shuping Li ◽  
Junjie Huang ◽  
Hengyu Li ◽  
Jun Luo
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameter ◽  
Binocular Stereo ◽  
Spherical Parallel Mechanism

Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot

2019 ◽  
Vol 27 (8) ◽  
pp. 1800-1810
Author(s):  
陈 原 CHEN Yuan ◽  
何淑垒 HE Shu-lei ◽  
姜 媛 JIANG Yuan ◽  
桑董辉 SANG Dong-hui ◽  
宁淑荣 NING Shu-rong
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Parallel Mechanism ◽  
Spherical Parallel Mechanism
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