NDLI: Mechanics unloading analysis and experimentation of a new type of parallel biomimetic shoulder complex

Content Provider	Springer Nature Link
Author	Hou, Yulei Li, Zhisen Wang, Yi Zhang, Wenwen Zeng, Daxing Zhou, Yulin
Copyright Year	2016
Abstract	The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism, while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex. A new type biomimetic shoulder complex, which adopts 3-PSS/S(P for prismatic pair, S for spherical pair) spherical parallel mechanism (SPM), is proposed. The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved. Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism. In addition, the prototype mechanism of the shoulder complex is developed, and the force feedback experiment is conducted to verify the static analysis, which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved. The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex, and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.
Starting Page	649
Ending Page	658
Page Count	10
File Format	PDF
ISSN	10009345
Journal	Chinese Journal of Mechanical Engineering
Volume Number	29
Issue Number	4
e-ISSN	21928258
Language	English
Publisher	Chinese Mechanical Engineering Society
Publisher Date	2016-06-10
Publisher Place	Beijing
Access Restriction	Subscribed
Subject Keyword	biomimetic shoulder complex humanoid robot spherical parallel mechanism carrying capacity mechanics unloading Mechanical Engineering Theoretical and Applied Mechanics Manufacturing, Machines, Tools Engineering Thermodynamics, Heat and Mass Transfer Power Electronics, Electrical Machines and Networks Electronics and Microelectronics, Instrumentation
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering

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