Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
9712066 | Mechanism and Machine Theory | 2005 | 27 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
R. Sellaouti, F.B. Ouezdou,