Design and control of a 3DOFs parallel actuated mechanism for biped application

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• 作者：R. Sellaouti and F.B. Ouezdou
• 刊名：Mechanism and Machine Theory
• 出版年：2005
• 期刊代码：124_0094114x
• 类别：et
• 出版时间：2005
• 卷：40
• 期：12
• 页码：1367-1393
• 文件大小：1258 K

摘要

In this paper, a novel approach to carry out the design of a three degrees of freedom (3DOF) actuated mechanisms for humanoid robots joints is presented. Instead of common serial mechanism, a more robust parallel mechanism was developed. This kind of structure gives the terminal body the ability to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Kinematic analysis are presented in this paper. A biped robot ROBIAN with parallel hip and ankle mechanisms was developed and experimental tests were carried out to evaluate the performances of the adopted structure.