Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints

Yanhe Zhu; Tianlu Wang; Hongzhe Jin; Jie Zhao; Guangyu Luan

doi:10.1109/ICMA.2015.7237647

Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints

Yanhe Zhu
, Tianlu Wang
, Hongzhe Jin
, Jie Zhao
, Guangyu Luan

School of Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The work addresses the motion characteristics and singularity of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. Firstly, according to parallel manipulating spherical joints, the arm is equipped with the better load bearing ability and better anthropomorphic characteristics than the traditional series configuration. Secondly, the complete forward kinematics is derived. Thirdly, the Jacobian matrix and the Jacobian matrix in the force field are obtained through differential transformation method, which is adopted for the singularity analysis in the later part. Finally, the calculation result of the dexterity provides clues for evaluating the manipulator.

Original language	English
Title of host publication	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1144-1149
Number of pages	6
ISBN (Electronic)	9781479970964
DOIs	https://doi.org/10.1109/ICMA.2015.7237647
State	Published - 2 Sep 2015
Event	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China Duration: 2 Aug 2015 → 5 Aug 2015

Publication series

Name	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Conference

Conference	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Country/Territory	China
City	Beijing
Period	2/08/15 → 5/08/15

Keywords

7-DOF arm
Jacobian matrix
Parallel manipulating
Singularity analysis

Access to Document

10.1109/ICMA.2015.7237647

Cite this

Zhu, Y., Wang, T., Jin, H., Zhao, J., & Luan, G. (2015). Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015 (pp. 1144-1149). Article 7237647 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2015.7237647

Zhu, Yanhe ; Wang, Tianlu ; Jin, Hongzhe et al. / Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1144-1149 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015).

@inproceedings{f88eadb93c1d41d88b0476e6656b9716,

title = "Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints",

abstract = "The work addresses the motion characteristics and singularity of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. Firstly, according to parallel manipulating spherical joints, the arm is equipped with the better load bearing ability and better anthropomorphic characteristics than the traditional series configuration. Secondly, the complete forward kinematics is derived. Thirdly, the Jacobian matrix and the Jacobian matrix in the force field are obtained through differential transformation method, which is adopted for the singularity analysis in the later part. Finally, the calculation result of the dexterity provides clues for evaluating the manipulator.",

keywords = "7-DOF arm, Jacobian matrix, Parallel manipulating, Singularity analysis",

author = "Yanhe Zhu and Tianlu Wang and Hongzhe Jin and Jie Zhao and Guangyu Luan",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

year = "2015",

month = sep,

day = "2",

doi = "10.1109/ICMA.2015.7237647",

language = "英语",

series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1144--1149",

booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",

address = "美国",

}

Zhu, Y, Wang, T, Jin, H , Zhao, J & Luan, G 2015, Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. in 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015., 7237647, 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1144-1149, 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015, Beijing, China, 2/08/15. https://doi.org/10.1109/ICMA.2015.7237647

Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. / Zhu, Yanhe; Wang, Tianlu; Jin, Hongzhe et al.
2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1144-1149 7237647 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints

AU - Zhu, Yanhe

AU - Wang, Tianlu

AU - Jin, Hongzhe

AU - Zhao, Jie

AU - Luan, Guangyu

PY - 2015/9/2

Y1 - 2015/9/2

N2 - The work addresses the motion characteristics and singularity of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. Firstly, according to parallel manipulating spherical joints, the arm is equipped with the better load bearing ability and better anthropomorphic characteristics than the traditional series configuration. Secondly, the complete forward kinematics is derived. Thirdly, the Jacobian matrix and the Jacobian matrix in the force field are obtained through differential transformation method, which is adopted for the singularity analysis in the later part. Finally, the calculation result of the dexterity provides clues for evaluating the manipulator.

AB - The work addresses the motion characteristics and singularity of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. Firstly, according to parallel manipulating spherical joints, the arm is equipped with the better load bearing ability and better anthropomorphic characteristics than the traditional series configuration. Secondly, the complete forward kinematics is derived. Thirdly, the Jacobian matrix and the Jacobian matrix in the force field are obtained through differential transformation method, which is adopted for the singularity analysis in the later part. Finally, the calculation result of the dexterity provides clues for evaluating the manipulator.

KW - 7-DOF arm

KW - Jacobian matrix

KW - Parallel manipulating

KW - Singularity analysis

UR - https://www.scopus.com/pages/publications/84955259849

U2 - 10.1109/ICMA.2015.7237647

DO - 10.1109/ICMA.2015.7237647

M3 - 会议稿件

AN - SCOPUS:84955259849

T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

SP - 1144

EP - 1149

BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015

Y2 - 2 August 2015 through 5 August 2015

ER -

Zhu Y, Wang T, Jin H , Zhao J, Luan G. Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1144-1149. 7237647. (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). doi: 10.1109/ICMA.2015.7237647

Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this