The Design And Study Of A Bionic Joint Based On 3-DOF Spherical Parallel Manipulator

A robot like human being is an imagination for the common people and it is depicted vividly in science fiction. The robot researchers are also earnestly longing for designing a robot that can imitate the action of human being. The mechanisms of the humanoid robot are maily made up of several joints. The mechanism of the humanoid robot in existence is serial mechanism, and all of them had no waist. In general, the carrying capacity is lower in the serial linked structure, what's more, the humanoid robot had no waist, which made the control difficult. In this dissertation, the shoulder and the waist of humanoid robot are studied and a new redundant parallel mechanism (3-RRR+S'-P manipulator) is applied. For the 3-RRR+S'-P manipulator is based on 3-RRR manipulator, the later study is mainly on 3-RRR manipulator and in several fields, such as kinematics, statics, stiffness, singularities and so on. The main content is that:1. In order to improve the character of manipulator's loading capability, a new redundant parallel——3-RRR+S'-P manipulator which is based on 3-RRR manipulator is designed through bionical improvement. Using the 3-RRR+S'-P manipulator, the force on the moving platform can be easily transferred to the fixed base through the redundant limb. It improves the characters of loading capability, stiffness and the precision of control.2. The kinematics model of 3-RRR manipulator is constructed and the solution of inverse position is obtained. The solution of velocity is obtained.3. The statics equation is obtained through analyse each component part. The expression of solution is gotton through the mechanism's distortion as complementary equations. Take a certain manipulator for example, we get the relation between the input torque and the force on each part and validate the velocity and force Jacobian matrix.4. The expression of stiffness is obtained based on the mechanism's distortion analyse and statics analyse.5. The evaluation method of velocity, accuracy and loading capability is analysed. We analyse its singularities.