Abstract
Traditional bionic joints including wrist, waist, ankle and shoulder have three revolute degrees of freedom, which can be treated as spherical joints, and its structure is prone to be damaged with impact force through the center of spherical joint. In this paper, a 3PUS-S(P) parallel metamorphic mechanism is used for bionic joint. This mechanism has two configurations as well as three degrees of orientation freedom in 1st configuration and extra one degree of translational freedom in 2nd configuration, which implies that only three variables are independent in 1st configuration and four variables in 2nd configuration. In order to analyze the kinematics and dynamics of this 3PUS-S(P) parallel spherical metamorphic mechanism, the constraint equations describing the six motion coordinates of moving platform are set and kinematic equations are established based on vector algebra method firstly and dynamic equations are established based on the Newton-Euler formulation secondly. Finally, a specific example is used to validate this kinematic and dynamic modeling method and illustrate the process of energy absorption under external forces.
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This work was partially supported by the National Natural Science Foundation of China under grant no. 51275352 and no. 51475330.
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© 2016 Springer International Publishing Switzerland
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Chang, B., Jin, G. (2016). Kinematic and Dynamic Analysis of a 3PUS-S(P) Parallel Metamorphic Mechanism Used for Bionic Joint. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_41
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DOI: https://doi.org/10.1007/978-3-319-23327-7_41
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