Design and Simulation of a Waist-Trunk System for Humanoid Robots

General information
Author	Liang, Conghui
Published	Cassino, Italia, 2010
Edition
Extend	204 pages
ISBN
Abstract	Design and Simulation of a Waist-Trunk System for Humanoid Robots In this Ph.D. thesis, a new torso named as waist-trunk system has been designed and simulated for applications in humanoid robots. The proposed new waist-trunk system consists of a six DOFs parallel manipulator and a three DOFs orientation parallel manipulator, which are connected together in a serial chain architecture. In contrast to the traditional torso design solutions, the new waist-trunk system has motion versatility, high payload capability, good stiffness, and easy-operation characteristics. The design features have been illustrated through kinematic, dynamic simulations, and experimental tests.