Title :
Design of a 3 DOFs parallel actuated mechanism for a biped hip joint
Author :
Sellaouti, R. ; Konno, A. ; Ouezdou, F.B.
Author_Institution :
Lab. de Robotique de Paris, Velizy, France
Abstract :
This paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots. Instead of common serial mechanism, a more robust parallel mechanism was developed. This kind of structure allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations were conduced to validate the kinematic model and optimize the design. Experimental prototype was developed to perform realistic tests on the control of this kind of mechanism
Keywords :
legged locomotion; optimisation; robot kinematics; 3-DOF actuated joints; 3-DOF parallel actuated mechanism design; biped hip joint; common serial mechanism; cone pointing axis; design optimization; humanoid robots; kinematic model; robust parallel mechanism; unlimited rotation; Biological system modeling; Design optimization; Hip; Humanoid robots; Joints; Kinematics; Performance evaluation; Prototypes; Robustness; Testing;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014700
