The Analysis And Design Of A Waist Joint Based On Three Branches Unequal Spaced Distribution Spherical Manipulator

The thesis focuses on analysis and design of the humanoid robots' waist joint based on the three branches unequal spaced distribution spherical 3-DOF parallel manipulator.Design thought is given, which indicates the spherical 3-DOF parallel manipulator is fit to become the humanoid robots' waist joint. The forward and reverse position are analyzed by using the spherical analytic theory, and corresponding numerical examples are also given to show the relations between the inputs and the outputs.The section distributions of different design parameters workspace are investigated, what's more, effects of design parameters on workspace volume are analyzed quantificationally. The global angle velocity precision transfer evaluation index and the global moment precision transfer evaluation index are defined, and the relation plots between seven design parameters and performance indexes are drawn.The mechanism parameters are confirmed according to the performance indexes, workspace volume and assembly conditions, then the humanoid robots' waist joint based on the spherical parallel manipulator is designed. Kinematics simulation is accomplished, and the simulation results and the theoretics calculation results are compared.The research of this thesis provides better base on the whole study of the humanoid robot.