Title :
A Novel Parallel Manipulator for Rotary Humanoid Wrist Based on Screw Theory
Author :
Zhang Guoxin ; Zhu Song ; Zhu Dachang ; Wu Cui
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; manipulators; limbs; parallel manipulator; rotary humanoid wrist; screw theory; Actuators; Aerospace simulation; Data mining; Educational institutions; Electronic mail; Fasteners; Kinematics; Manipulators; Parallel robots; Wrist; Parallel manipulator; Rotary Humanoid Wrist (RHW); screw theory; workspace;
Conference_Titel :
Knowledge Discovery and Data Mining, 2009. WKDD 2009. Second International Workshop on
Conference_Location :
Moscow
Print_ISBN :
978-0-7695-3543-2
DOI :
10.1109/WKDD.2009.104
