Design Of A Waist Joint Based On A Novel 3-DOF Parallel Manipulator

Adding waist joint to a humanoid robot can improve the stability, coordination of the robot and extended the workspace. So the design of waist joint is the important link of the whole design of robot.The thesis adopted a kind of three rotation 3-DOF parallel manipulator as the humanoid robot's waist joint,analysis kinematics performance and design structure of the parallel manipulator.The DOF of the novel parallel waist are given by using the theory of screws, the reverse position also be discussed. By using the inverse kinematics equations established and the architecture constraints,its workspace is investigated. The effects of the structure parameters to the workspace volume are studied quantitatively. Put the waist joint robot's and the 3-RRR spherical parallel robot in a comparative and analyse the workspace.The velocity Jacobian matrix of the waist joint is established by using kinematics equation derivative. A kinematic transmission evaluation criterion is defined.The distribution of the defined evaluation criterion are presented on the workspace. Put the waist joint robot's and the 3-RRR spherical parallel robot in a comparative and analyse the kinematics transfer properties.The mechanism parameters are confirmed according to the kinematics transmission isotropic, workspace volume and architecture compact conditions,The model of the novel 3-DOF parallel waist joint is design by three-dimensional software, Complete the prototype design of the waist joint.