Design and Validation of a PKM Structure for a Humanoid Torso

10.6567/IFToMM.14TH.WC.OS13.122

Daniele Cafolla；Marco Ceccarelli

Mechanism Design ； Parallel Manipulators ； Humanoid Torso ； FEM Analysis ； Rapid Prototyping

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

358 - 366

英文

Artificial torso is a fundamental part of humanoid robots with special features of mimic human performance. In this paper, a novel torso design is presented with waist and trunk modules with PKM structures, as inspired by human anatomy. The design is presented with numerical results of dynamic simulation in ADAMS environment with the aim of testing the feasibility of the proposed solution and characterizing its operation performance.

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