Abrir el documento
|
Información general |
| Autor |
Liang, Conghui |
| Publicado |
Cassino, Italia, 2010
|
| Edición |
|
| Extensión |
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.
|
|
Newsletter
DMG-Lib
Univ. Cassino
