Humanoid-neck parallel robot and control method thereof
A robot and parallel technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as the difficulty of motion control, and achieve the effect of reducing the difficulty of entry, simple structure, and flexible operation
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[0024] The patent of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
[0025] In the present invention, the rope-driven flexible humanoid head-neck parallel robot, its base and moving platform are connected by 3 ropes and 1 compression spring. The compression spring is used to simulate the human cervical spine as the supporting spine of the parallel robot, and the human neck is simulated by the rope. The internal muscles drive and control the robot. The external force acting on the moving platform is equivalent to the vector force and moment at the center of the moving platform. Based on the force and moment balance conditions, combined with the lateral bending equation of the compression spring, the inverse kinematics of the robot is solved Model. In order to minimize the driving force of the rope, the minimum average value and the minimum maximum value of the rope pulling force are the optimization...
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