Application of Parallel Manipulator to Bionic Elbow Joints XIONG Zhuanglin, ZHAO Guowei

摘要

Considering the living prototype of elbow joint and the characteristics of serial & parallel manipulators, this paper presents a parallel manipulator PPS-UR to the design of bionic joint, and gains a new bionic design theory. Choice of a new configuration, mobility, singularity and input selection of this mechanism are analyzed via screw theory. Comparing the different positions of actuator and combining with the input bionic, to choose the reasonable actuate position, shows the feasibility of the approach.