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�������պ����ѧѧ�� 2006, Vol. 32 Issue (08) :988-991    DOI:
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Mechanism and forward kinematic analysis for cable-driven humanoid-arm manipulator
Chen Quanzhu, Chen Weihai, Zhang Jianbin*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� 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.
Keywords�� cable-driven   parallel manipulator   kinematics     
Received 2005-10-24;
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About author: ��Ȫ��(1980-),��,����������,˶ʿ��, cqz1980@163.com.
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��Ȫ��, ��ΰ��, �Ž���.���������˱ۻ����˻�����ǰ���˶�ѧ����[J]  �������պ����ѧѧ��, 2006,V32(08): 988-991
Chen Quanzhu, Chen Weihai, Zhang Jianbin.Mechanism and forward kinematic analysis for cable-driven humanoid-arm manipulator[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2006,V32(08): 988-991
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