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《China Mechanical Engineering(中国机械工程)》 2009-14
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Design and Kinematics Analysis of a Novel Robot Shoulder Joint

Jin Zhenlin1 Cao Shun1 Gao Feng2 1.Yanshan University,Qinhuangdao,Hebei,066004 2.State Key Laboratory of Mechanical System and Vibration,ShangHai JiaoTong University,Shanghai,200240  
Based on the orthogonal 3RRR spherical parallel mechanism,an unique shoulder joint of humanoid robot with parallel architecture was investigated,and the layout feature of the shoulder joint was described.The inverse kinematics equations and Jacobian matrix were given by the relation of geometry.Condition number which was detrude by Jacobian matrix was used to define dexterity measurement.According to restriction terms of workspace the constant orientation workspace and dexterity measurement were plotted.The results of analyses indicate that the shoulder joint enjoys many advantages over its compact structure,good decoupled property,easy manufacturing and assemble.It shows good performance as a shoulder joint of humanoid robot.
【Fund】: 国家重点基础研究发展计划资助项目(2006CB705402);; 上海交通大学机械系统与振动国家重点实验室开放基金(VSN-2008-06)
【CateGory Index】: TP242
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