Analysis of Degree of Freedom of 4-SP_xyzS/S Parallel Mechanism of the Imitation of Human Wrist

Abstract:

The human wrist has three rotational DOFs. Elbow muscle group work together to drive the wrist joint. According to the above characteristics of human wrist, parallel mechanism with three rotational DOFs of the imitation of human wrist is built. Traditional method for calculating DOF based on arithmetic is not that accurate. The method for analysis of DOF based on theory of constraint screw is explained. According to theory of constraint screw, the parallel mechanism built was analyzed. All the kinematic pairs in the mechanism will be expressed with screws so that the common constraints and the over constraints will be obtained. Through analysis above, the DOFs of the mechanism can be calculated and which a few degrees of freedom of the mechanism will be known. The new method avoids the disadvantages of the traditional method.

• Periodical: Advanced Materials Research (Volumes 1006-1007)
• Pages: 654-657
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1006-1007.654
• Online since: August 2014
• Authors: Ke Jiang Zang*, Wan Shun Zang, Cai Hua Li, Xiao Ping Hu, Hai Xiang Wang
• Keywords: Bionic Joint, DOF(Degree of Freedom), Parallel Mechanism, Theory of Constraint Screw

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