Design and Simulation of a Waist-Trunk System for a Humanoid Robot
نویسندگان
چکیده
In this paper, a new waist-trunk system has been proposed for a humanoid robot by using parallel architectures. The structure of human torso and its function have been used as inspirations for design purposes. The proposed waist-trunk system consists of a 3 legged UPS orientation parallel platform and a 6 legged UPS parallel platform which are connected together in a serial architecture. A 3D model of the proposed system has been elaborated in SolidWorksr both for design and simulation purposes. Kinematic equations have been formulated for characterization and evaluation of performances. Simulation results show that the proposed system is able to imitate the movements of human torso with suitable motion capability, flexibility, and operation performances.
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