Title :
Analysis of a novel parallel manipulator for Rotary Humanoid Wrist based on screw theory
Author :
Dachang Zhu ; Jianwu Zhu ; Yuefa Fang
Author_Institution :
Jiangxi Univ. of Sci. & Technol., Ganzhou
Abstract :
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.
Keywords :
humanoid robots; manipulator kinematics; circular motor; parallel manipulator kinematics; rotary humanoid wrist; screw theory; simulink tool; Actuators; Aerospace simulation; Biomimetics; Educational institutions; Fasteners; Humanoid robots; Kinematics; Manipulators; Parallel robots; Wrist; Parallel manipulator; Rotary Humanoid Wrist (RHW); Screw theory; workspace;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913133
