The Design And Study Of The Series-Parallel 7-DOF Redundant Anthropomorphic Arm

The design of the series-parallel connection 7-DOF arm is one of the challening problems inthe robotic field.This paper investigates the issue principle. In this thesis ,the design of the Theseries-paralles 7-DOF redundant anthropomorphic arm with 3-DOF spherical parallelmechanisms acting as the shoulder and wrist is perform,based on trigonometry theory ,it wasanalysis and calculate. Velosity inverse solution equation resolve expression of 3-DOF sphericalparallel mechanisms was given. Through the study of the parallel-connection sphere joint'sperformance target ,the redundant 7-DOF series-connection personification arm's shoulder andwrist joint parameter with reason is put forword. According to the physical significance,adopt thetheory of the physical model of the solution space as abstract model of arm mechanisms-threemoving rod mechanisms. Based on this integrate the analysis of human arm established thedesign of the structure parameters of 7-DOF redundant anthropomorphic arm. Introducechoosing proprity main plane in arm mechanism , reduce the number of DOF.Manage analyticmethod giving the position reverse explain equation expression of the The series-parallel7-DOF redundant anthropomorphic arm.At the same time ,handling the method of specialposition of mechanism , it was simulated as exactness.Consequently , the study of this aticle has important significance of science and apparent application value on the design of the redundant series-parallel anthropomorphic arm with 7-DOF .