Analysis of a novel parallel manipulator for Rotary Humanoid Wrist based on screw theory

Analysis of a novel parallel manipulator for Rotary Humanoid Wrist based on screw theory

A class of parallel manipulators known as rotary humanoid wrist (RHW), which is actuated by six circular motors on the circular base and dose not involve any prismatic joint, is analyzed based on screw theory. Model of RHW is build by using simulink tools with constant length limbs. The mobility of...

Full description

Saved in:
Bibliographic Details
Published in:2008 IEEE International Conference on Robotics and Biomimetics pp. 983 - 987
Main Authors: Zhu, Dachang, Zhu, Jianwu, Fang, Yuefa
Format: Conference Proceeding
Language:English
Published: IEEE 01-02-2009
Subjects:
Actuators
Aerospace simulation
Biomimetics
Educational institutions
Fasteners
Humanoid robots
Kinematics
Manipulators
Parallel manipulator
Parallel robots
Rotary Humanoid Wrist (RHW)
Screw theory
workspace
Wrist
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A class of parallel manipulators known as rotary humanoid wrist (RHW), which is actuated by six circular motors on the circular base and dose not involve any prismatic joint, is analyzed based on screw theory. Model of RHW is build by using simulink tools with constant length limbs. The mobility of RHW is analyzed and the optimal combination of the main parameters for maximizing the workspace volume of RHW is also given.
ISBN:9781424426782
1424426782
DOI:10.1109/ROBIO.2009.4913133