Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints

Yanhe Zhu, Tianlu Wang, Hongzhe Jin, Jie Zhao, Guangyu Luan
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引用次数: 2

Abstract

The work addresses the motion characteristics and singularity of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. Firstly, according to parallel manipulating spherical joints, the arm is equipped with the better load bearing ability and better anthropomorphic characteristics than the traditional series configuration. Secondly, the complete forward kinematics is derived. Thirdly, the Jacobian matrix and the Jacobian matrix in the force field are obtained through differential transformation method, which is adopted for the singularity analysis in the later part. Finally, the calculation result of the dexterity provides clues for evaluating the manipulator.
基于并联操纵球面关节的新型七自由度人形机械臂运动学及奇异性分析
研究了一种基于并联操纵球面关节的新型七自由度人形机械臂的运动特性和奇异性。首先,通过并联操纵球面关节,使机械臂比传统的串联配置具有更好的承载能力和拟人化特性;其次,导出了完整的正运动学。第三,通过微分变换法得到雅可比矩阵和力场中的雅可比矩阵,并将其用于后面的奇异分析。最后,灵巧度的计算结果为机械臂的评价提供了依据。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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