This work reveals kinematic analysis and relationships of input and output velocities in a humanoid robotic arm, highlighting its flexibility and innovative design.
A novel serial-parallel hybrid humanoid robotic arm (HRA) is proposed inspired by human arm. The HRA is composed of shoulder joint, elbow joint and wrist joint with 8 degrees-of-freedom (DOF). The shoulder joint and wrist joint are composed of 3PSS/S parallel mechanism and elbow joint is composed of R+ (RPR+R) mechanism. Joint movement and arm are integrated together which can make the structure more compact. It has the advantages of high rigidity and flexibility, large workspace and loading capacity, which can be used in industrial or service robots to improve their performance. This paper mainly focuses on the problems of kinematic analysis of this kind of multi-layer parallel hybrid mechanisms. Based on a recursive mathematic model, the full forward kinematics model is established and the relationships between input velocity/acceleration and output velocity/acceleration are discovered. The analytical results are proved to be correct by utilizing a simulation solution of the HRA based on parametrization method with determined values. This work provides a new structure and a new recursive mathematic model method for kinematic analysis of HRA mechanism.
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Dai et al. (2025) studied this question.
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