Design of a 3 DOFs Parallel Actuated Mechanism for a Biped Hip Joint
نویسندگان
چکیده
AbstmctThis paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots. Instead of common serial mechanism, a more robust parallel mechanism was'developed. This kind of structure allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations were conduced to validate the kinematic model and optimize the design. Experimental prototype was developed to perform realistic tests on the control of this kind of mechanism. KeywonfsParallel mechanism, Hip joint, Biped robot.
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تاریخ انتشار 2002