In order to overcome the influence of bad load-bearing capacity and the movement flexibility by the actuators installed on the humanoid-arm, a series-parallel mechanism based on the latest theories of humanoid-arm bionics and research results of the parallel robots was proposed. The shoulder and wristjoints with a cable-driven parallel mechanism were replaced, and the motors were installed on the base. The cable-distribution from the base to the corresponding joint and the coupling instances among 3 joints were discussed. Furthermore, the forward kinematics to deduce the pose and position of the end effector respective to the base coordinate were analyzed. A simulation by means of ADAMS was carried out for two group numerical solutions to verify the effectiveness of proposed algorithm.
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