Performance Analysis And Prototype Development For 3PSS/S Parallel Shouder Joint Mechanism Of Humanoid Robot

The joint is most important and key part of the humanoid robot, directly decides the humanoid robot maneuvering performance, handling, body coordination and carrying capacity, etc. Design and implementation of an joint which satisfying the using requirement of human is a main task for humanoid robot research. Performance analysis and prototype development study of humanoid robots shoulder joint are proposed in this paper, based on 3PSS/S parallel mechanism, which has important practical significance and application value, as the shoulder complex is key on humanoid robot research.Based on the derivation method, the velocity Jacobian matrix and acceleration for each component of mechanism are deduced on the basis of inverse position, and the singularity of the mechanism is analyzed.The static force analysis model of the mechanism is set up through the vector method. Under the certain loads, the equations are solved to obtain constraining force. The constraining force on middle limb were compared with forces on side limbs to analyze mechanics unloading performance of mechanism.After the inertia tensors of moving platform and side limbs’ connecting rod acquired, the dynamic equilibrium equation of the mechanism is set up based on Newton-Euler method. On different movement conditions, variation of the driving force and constraining force on each component of the mechanism over time are researched.After driving style of the prototype selected and checked, the design of the key parts such as sides limbs, fixed platform and moving platform of mechanism are accomplished and model building, machining and assembly of mechanism are finished. The motion control scheme is confirmed to design the system control and the hardware interface circuit. To develop an integrated parallel bionic shoulder joint prototype system, integration of various electrical components in the control cabinet and simulation and debugging of the control system are completed.Combined with characters of human body kinematics and forced state of shoulder joint, the functional verification experiment and force feedback experiment are operated, which providing detailed and strong technology data support for the parallel bionic shoulder’s engineering practice.