Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint

2009 ◽  
Vol 69-70 ◽  
pp. 585-589 ◽  
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Elbow Joint ◽  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Smooth Boundary ◽  
Evaluation Index ◽  
Vector Method ◽  
Input And Output ◽  
Spherical Parallel Mechanism ◽  
Relationship Of ◽  
The Relationship

The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.

scholarly journals Relationship of Selected Kinematic Variables to The Technique of Pull Shot in Cricket

2021 ◽  
Vol 8 (6) ◽  
pp. 67-71
Author(s):  
Pushpendra Narvariya ◽  
Prof. Joseph Singh
Keyword(s):  
Elbow Joint ◽  
Whole Body ◽  
Left Shoulder ◽  
Point System ◽  
Pearson Product Moment Correlation ◽  
Left Elbow ◽  
Batting Performance ◽  
Spss Software ◽  
Relationship Of ◽  
The Relationship

The current study aims to analyze the relationship of selected kinematic variables to the technique of pull shot in cricket. For the purpose of the study the researcher purposively selected five male inter-university cricket players from lnipe, gwalior of 18 to 24 years., the technique of pull shot in batting performance of each selected subjects was recorded on the basis of certain criteria (point system). It was divided into 2 components; 1. placement of feet and 2. execution (contact) each consist of maximum 10 points. The angles at selected joints were recorded to the nearest degree. The c.g. was measured nearest to the 1/10th of the centimetre. On the basis of sequence photographs obtained from the videography, the scholar developed stick figures from which selected kinematic variables was calculated. The center of gravity of whole body was determined by kinovea software. To find the the relationship of selected kinematic variables to the technique of pull shot in cricket pearson product moment correlation coefficient was used by means of spss software. It was found that, in case of moment execution angle at left shoulder joint and angle at left elbow joint showed significant relationship with performance.

Kinematics Analysis of a New 5 DOF Parallel-Serial Machine Tool Based on the Vector Method

2010 ◽  
Vol 450 ◽  
pp. 283-287 ◽  
Author(s):  
Rui Wang ◽  
Gang Ding ◽  
Shi Sheng Zhong
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Vector Method ◽  
Velocity Transformation ◽  
Axis Parallel ◽  
Movable Platform ◽  
Parameter Coupling ◽  
The Relationship ◽  
Kinematics Parameters

A 5-axis parallel-serial machine tool is proposed, which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism, and the kinematics analysis is discussed in detail based on the vector method. The size of the velocity transformation matrix is decreased. The problem of parameter coupling is resolved by adopting identity matrix and four-element vector. The relationship between the velocity and acceleration of the movable platform and the input parameters of the parallel mechanism is established. These algorithms are verified correct through ADAMS (Automatic Dynamic Analysis of Mechanical System) and can be referenced by kinematics analysis, dynamics analysis of parallel or parallel-serial machine tools, which have coupling kinematics parameters.

Kinematics Performance Analysis of a Robot Hip Joint

2013 ◽  
Vol 749 ◽  
pp. 566-570
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Performance Evaluation ◽  
Hip Joint ◽  
Parallel Mechanism ◽  
Initial Position ◽  
Evaluation Index ◽  
Rehabilitation Robot ◽  
Transmission Performance ◽  
Spherical Parallel Mechanism ◽  
Performance Evaluation Index ◽  
The Ideal

Kinematics research of mechanism is very important, the dynamic analysis and the design are based on linematics analysis. In this paper, a novel robot hip joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and Jacobin matrix is established. Then the linematics transmission performance evaluation index is defined. Furthermore the linematics transmission performance index is analyzed. The hip joint has good linematics transmission performance at the initial position. With the increase of workspace, linematics transmission performance gradually decreased. 3-RRR parallel mechanism is the ideal prototype of bionic robot and rehabilitation robot hip joint.

Torque Transmission Analysis and Design of a 3-DOF Spherical Parallel Manipulator

2009 ◽  
Vol 69-70 ◽  
pp. 575-579
Author(s):  
Y.B. Li ◽  
Shi Ming Ji ◽  
Qiao Ling Yuan ◽  
Li Zhang ◽  
Ming Sheng Jin
Keyword(s):  
Integrated Design ◽  
Evaluation Index ◽  
Analysis And Design ◽  
Torque Transmission ◽  
Technological Efficiency ◽  
Ultra Precision ◽  
Relationship Of ◽  
The Relationship ◽  
Model Technique ◽  
Spherical Parallel Manipulator

Static analysis plays an important role on the design and applications of manipulator. In this paper, The torque balance equations of the spherical 3-DOF manipulator was derived in closed forms by analyzing the relationship of its input and output torques, then the torque transmission evaluation index and the global torque transmission evaluation index were defined based on the torque balance equation and discussed in detail, at last, by using the physical model technique, the parameters of the spherical 3-DOF manipulator were optimized based upon the global torque transmission evaluation index. Moreover, an integrated design scheme of the spherical 3-DOF manipulator was confirmed when satisfied the assembly conditions, which can provide theoretical base for the applications of the spherical 3-DOF manipulator. The spherical 3-DOF manipulator can be used as the waist, wrist and the ultra-precision machine in which the requirements for high stiffness, high accuracy and good technological efficiency.

scholarly journals A Numerical Approach for 3 PRS Parallel Manipulator

2018 ◽  
Vol 7 (4.10) ◽  
pp. 90 ◽  
Author(s):  
Arockia Selvakumar A ◽  
. .
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Numerical Approach ◽  
Inverse Kinematic ◽  
Position Vector ◽  
Vector Method ◽  
Spherical Parallel Mechanism ◽  
Forward Kinematic

This paper presents a numerical approach on kinematic analysis of 3-DOF parallel manipulator (PM). The proposed mechanisms constitute of PRS (Prismatic-Revolute-Spherical) parallel mechanism with two rotations and one translation. The forward and inverse kinematic equations of the PM are derived by position vector method. A total of 48 solutions are obtained for the forward kinematic equations using MATLAB. 

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms: Theory and Application for 2-DOF Mechanism

2004 ◽  
Author(s):  
Jay il Jeong ◽  
Dongsoo Kang ◽  
Jongwon Kim
Keyword(s):  
Optimization Algorithm ◽  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Parallel Mechanisms ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Redundantly Actuated ◽  
Relationship Of ◽  
The Relationship

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms. The calibration algorithm for a non-redundant case does not apply for a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose. To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm for a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-degree of freedom (DOF) parallel mechanism with three actuators using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

scholarly journals Surface Electromyographic Control of a Humanoid Robot

2013 ◽  
Author(s):  
Alex W. Grammar ◽  
Robert L. Williams
Keyword(s):  
Open Source ◽  
Elbow Joint ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Source Surface ◽  
Electromyographic Activity ◽  
Angle Measuring ◽  
Human Arm ◽  
The Relationship

This paper details the development of an open-source surface electromyographic interface for controlling 1-DOF for the DARwIn-OP humanoid robot. This work also details the analysis of the relationship between surface electromyographic activity of the Biceps Brachii muscle and the angle of the elbow joint for the pseudo-static unloaded arm case. The human arm was mechanically modeled for a two link system actuated by a single muscle. The SEMG activity was found to be directly proportional to joint angle using a combination of custom joint angle measuring hardware and a surface electromyographic measuring circuit. This relationship allowed for straightforward control of the robot elbow joint directly. The interface was designed around the Arduino Microcontroller; another open-source platform. Software for the Arduino and DARwIn-OP were drawn from open source resources, allowing the entire system to be comprised of open-source components. A final surface electromyographic measuring and signal conditioning circuit was constructed. Data recording and processing software was also coded for the Arduino, thus achieving control of the robotic platform via surface electromyography.

Analysis of Structural Parameter and Design of Elbow Joint Rehabilitation Parallel Robot

2013 ◽  
Vol 749 ◽  
pp. 322-327
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Objective Function ◽  
Human Body ◽  
Elbow Joint ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Optimization Method ◽  
Parallel Robot ◽  
Structural Parameter ◽  
Solution Equation ◽  
Spherical Parallel Mechanism

Elbow joint is one of the body's important joints, most of the activities of the human body are inseparable from the elbow joint, and including taking and holding movements.In order to increase the workspace of elbow joint, a novel elbow joint rehabilitation parallel robot based on 2-DOF orthogonal spherical parallel mechanism is proposed. First, the position inverse solution equation of elbow joint is established. Further, the workspace of elbow joint is analyzed. The optimal structural parameters are obtained by use of the objective function of optimization method. Finally, the virtual prototype of elbow joint rehabilitation parallel robot is designed using optimal structural dimensions parameters.

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