Aimed at the problems of design difficulty and weak kinematic performance caused by spherical joint,
a novel PRC+PRCR+RR humanoid ankle joint based on the partially decoupled spherical parallel mechanism is
proposed. According to screw theory, the degree of freedom and decoupling characteristics of this mechanism are
analyzed. Based on Klein formula and virtual work principle, the kinematic expressions of each link and dynamic
model are established. The correctness of the dynamic model is verified by combining the virtual prototype software
and the ankle pose function obtained by gait planning and Fourier fitting. The workspace of this mechanism is
mapped into a two-dimensional polar coordinate system with the azimuth and elevation angles of the spherical
coordinate system as parameters. The motion/force transmission index and constraint index of this mechanism
are evaluated and expressed in the workspace, showing this mechanism with excellent kinematic characteristics.
LI Yanbiao∗ (李研彪), CHEN Ke (陈 科), SUN Peng (孙 鹏), WANG Zesheng (王泽胜)
. Dynamic Modeling and Performance Evaluation of a Novel Humanoid Ankle Joint[J]. Journal of Shanghai Jiaotong University(Science), 2022
, 27(4)
: 570
-578
.
DOI: 10.1007/s12204-022-2422-9
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