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Performance evaluation of spherical parallel platforms for humanoid robots

Published online by Cambridge University Press:  01 May 2006

Roque J. Saltaren ,
Jose M. Sabater ,
Eugenio Yime ,
Jose M. Azorin ,
Rafael Aracil  and
Nicolas Garcia
Roque J. Saltaren
Affiliation:
DISAM, ETSII, Universidad Politecnica de Madrid, Madrid 28006Spain.
Jose M. Sabater
Affiliation:
Departamento de Ingenieria de Sistemas Industriales Universidad Miguel Hernandez, Elche (Alicante) 03202Spain.
Eugenio Yime
Affiliation:
DISAM, ETSII, Universidad Politecnica de Madrid, Madrid 28006Spain.
Jose M. Azorin
Affiliation:
Departamento de Ingenieria de Sistemas Industriales Universidad Miguel Hernandez, Elche (Alicante) 03202Spain.
Rafael Aracil
Affiliation:
DISAM, ETSII, Universidad Politecnica de Madrid, Madrid 28006Spain.
Nicolas Garcia
Affiliation:
Departamento de Ingenieria de Sistemas Industriales Universidad Miguel Hernandez, Elche (Alicante) 03202Spain.
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Summary

This paper presents a simple methodology for the quantitative and qualitative analysis of the performance of spherical parallel platforms. The quaternion formulation is used to represent the possible rotations, showing the workspace as a three-dimensional (3-D) solid object. The singularities of the platform intersect graphically with its workspace, allowing a graphical study of the mechanism kinematics. The performance criterion considered here has been the local dexterity of the manipulator. This methodology has been used to study and analyze three known orientation parallel platforms: 3-RRR, 3-UPU-wrist, and 2-UPS-1-RU. The objective of this study is to analyze the ability of these platforms to be utilized as mechanisms for the neck and shoulders of humanoid robots. Finally, the forces on actuators in some typical motions for neck and shoulder are plotted.

Keywords

Spherical parallel manipulatorParallel wristsRobot kinematicsDesign optimizationHumanoid robot

Information

Type
Article
Information
Robotica , Volume 25 , Issue 3 , May 2006 , pp. 257 - 267
Copyright
Copyright © Cambridge University Press 2006

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