Title :
Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator
Author :
Yan, Liang ; Chen, I-Ming ; Lim, Chee Kian
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore
Abstract :
This paper presents a new design of two degree-of-freedom (2-DOF) non-symmetric parallel mechanism which can be employed as humanoid arm structure. Unlike conventional multi-DOF parallel mechanism, this design targets to reduce the number of actuators, and thus the total cost. The major feature of this mechanism is that it can move an end-effector in six-dimension (6D) space with only two motors, including three translational and three rotational motions. The forward, inverse kinematics as well as workspace of this parallel manipulator is analyzed and visualized. A prototype is developed and successfully implemented into the robotic lion dancing system as a humanoid arm structure.
Keywords :
end effectors; humanoid robots; manipulator kinematics; mobile robots; end-effector; humanoid arm structure; kinematic analysis; robotic lion dancing system; two degree-of-freedom parallel manipulator; Actuators; Aerospace engineering; Costs; Humanoid robots; Kinematics; Leg; Manipulators; Paper technology; Prototypes; Visualization; arm structure; parallel mechanism;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681524
