Kinematics Analysis and Design of a Novel Robot Shoulder Joint

Abstract

Kinematics research of mechanism is very important, the dynamic analysis and the design are based on kinematical analysis. In this paper, a novel robot shoulder joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and the kinematics transmission equation of shoulder joint is derived by using the kinematics inverse solution, and Jacobin matrix is established. Then Jacobin matrix is introduced into the global performance index, and the velocity of global performance evaluation index is defined. Furthermore, the shoulder joint dimensions are changed, and the global performance index is analyzed, then a performance atlas is given at the work spaces of shoulder joint with different dimension. It is found that the Jacobin matrix has more important influence on the kinematics performance of the shoulder joint. Having a good kinematics performance, structure dimensions ranges of shoulder joint are gained, thus the evaluation of kinematics of shoulder joint is more comprehensive. Finally, a novel robot shoulder joint is designed with the kinematics performance evaluation index.