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Citation link: https://doi.org/10.26092/elib/2318

Publisher DOI: https://doi.org/10.1007/978-3-319-93188-3_49
Kumar-Kirchner et al_Kinematic analysis of a novel parallel 2SPRR+1U ankle mechanism in humanoid robot_2019_accepted-version.pdf
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Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot


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Kumar-Kirchner et al_Kinematic analysis of a novel parallel 2SPRR+1U ankle mechanism in humanoid robot_2019_accepted-version.pdf2.59 MBAdobe PDFView/Open
Authors: Kumar, Shivesh  
Nayak, Abhilash 
Peters, Heiner 
Schulz, Christopher 
Müller, Andreas 
Kirchner, Frank  
Abstract: 
Parallel mechanisms are increasingly being used as modular subsystems in various robots and man-machine interfaces for their good stiffness, payload to weight ratio and dynamic properties. This paper presents the kinematic analysis of a novel parallel mechanism of type 2SPRR+1U for application as a humanoid ankle joint with two degrees of freedom. Tools from computational algebraic geometry are used to provide solutions to the forward and inverse kinematics problems. These are further used to characterize the workspace of this mechanism and provide description of its singularity curves. The kinematic analysis demonstrates that the chosen design can provide human ankle like workspace and good torque transmission capability without suffering from any singularities which makes it an ideal candidate for ankle joint module in humanoid robots.
Keywords: Kinematic analysis; Parallel mechanisms; Ankle joint; Humanoids
Issue Date: 23-Jun-2018
Publisher: Springer
Series: Springer Proceedings in Advanced Robotics 
Start page: 431
End page: 439
Type: Artikel/Aufsatz
ISBN: 978-3-319-93188-3
Secondary publication: yes
Document version: Postprint
DOI: 10.26092/elib/2318
URN: urn:nbn:de:gbv:46-elib69977
Faculty: Fachbereich 03: Mathematik/Informatik (FB 03) 
Appears in Collections:Forschungsdokumente

  

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