Paper Title:
Bionic Integration of the Spherical Parallel Shoulder Joint with the Six-Component Force Sensor
  Abstract

Based on the bionics principle, this paper proposed the idea of bionic design of the spherical parallel shoulder joint integrated with the six-component force sensor. The static analysis of the 3-RRS mechanism, which can be taken as a prototype mechanism of shoulder joint of humanoid robot, was carried out. And the relationship figures between the forces and torques acted on each component and the pose of the mechanism were obtained. The measurement of the external load and driving torques, which was employed to judge operability of arm to the target object under arbitrary pose, was realized by introducing resistance measurement method in the mechanism. The bionic integration of the shoulder joint with six-component force sensor made arm has some functions such as to avoid overload and singular area voluntarily, and realize self-protection. The contents of this paper lay a foundation of compliant control of humanoid robot arm and have important significance and value in engineering.

  Info
Periodical
Edited by
Honghua Tan
Pages
1225-1230
DOI
10.4028/www.scientific.net/AMM.66-68.1225
Citation
Y. L. Zhou, Y. L. Hou, X. S. Qiu, "Bionic Integration of the Spherical Parallel Shoulder Joint with the Six-Component Force Sensor", Applied Mechanics and Materials, Vols. 66-68, pp. 1225-1230, 2011
Online since
July 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Shu Hua Sun
Chapter 12: New Functional Materials
Abstract:A new type of parallel tire building drum mechanism is proposed. The structure of the mechanism is analyzed, and the degree of freedom is...
2040
Authors: Tian Yu Li, Ding Xuan Zhao, Fang Yuan Han, Zhong Ke Shi, Meng Wang, Guo Ping Huang
Chapter 1: Material Section
Abstract:Parasitic motion of 3-PRS (prismatic-revolute–spherical) parallel mechanism is discussed, inverse kinematics model of this mechanism is...
303
Authors: Qi Yang, Sheng Hai Hu, Jian Jun Yao
Chapter 1: Mechatronics
Abstract:The concept of dynamic directional manipulability is taken as an evaluating index of jumping performance to quest for improvement of the...
961
Authors: Xiang Ming Liu, Hong Yi Yan
Chapter 1: Hydraulic and Fluid Power Technologies and Applications
Abstract:For the problem of Typical Stewart Platform with small workspace and poor flexibility, the paper proposed a new 6-DOF simulator platform. The...
181
Authors: Hong Jun San, Yuan Ming Wang, Jian Xiong Liu
Chapter 10: Industrial Robotics
Abstract:In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform...
1573