Abstract
The paper presents the kinematic analysis and motion simulation of the waist mechanism for humanoid robots. The waist mechanism with total 3 DOFs is proposed. It consists of two interconnected spatial mechanisms that allow movements around the pitch and roll axes, while the third is planar mechanism for movements around the yaw axis. Due to the structure of links, spatial mechanisms can function independently and/or simultaneously. By kinematic analysis of the waist mechanism, the kinematic parameters are defined and based on that, a kinematic model is formed. Motion simulation of the waist mechanism for initial movements of flexion, extension, lateral flexion and rotation is performed. For the corresponding movement and range of motion, the waist mechanism reaches the kinematic parameters of the human lumbar spine region, which was the basic requirement for realization.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
