Abstract
A robot shoulder joint should have good kinematic performance and workspace, but the structural parameters of shoulder joint directly affect the workspace. In order to increase the workspace of shoulder joint, a novel robot shoulder joint based on 3-DOF orthogonal spherical parallel mechanism is proposed. This paper studied the influence on its workspace affected by the variation of structural parameters of the connecting rod, frame connecting rod, rod diameter of this shoulder joint mechanism. Based on the consideration of mechanical constraint, the objective function of the optimal structural parameters of the shoulder joint is established. Having the maximum the workspace, the structural parameters of shoulder joint are gained.
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