کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
9712066 | 1467788 | 2005 | 27 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design and control of a 3DOFs parallel actuated mechanism for biped application
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 40, Issue 12, December 2005, Pages 1367-1393
Journal: Mechanism and Machine Theory - Volume 40, Issue 12, December 2005, Pages 1367-1393
نویسندگان
R. Sellaouti, F.B. Ouezdou,