In this paper, we present a thorough kinematics analysis of a humanoid two degrees-of-freedom (DoF) ankle module based on a parallel kinematics mechanism. Compared with the conventional serial configuration, the parallel kinematics ankle permits the distribution of the torque/power of the actuators to the two DoF of the ankle taking full advantage of available power/torque capacity of the two actuators. However, it complicates the kinematics study in return. In this work, a complete study of a parallel ankle mechanism is performed that permits the full characterization of the ankle module for the purpose of its design study, control, and performance evaluation. Screw theory is employed for mobility analysis to first determine the number and properties of the mechanism's DoFs. Then the inverse kinematics is solved analytically and the Jacobian matrix for describing the velocity relation between the ankle joints and motors is found. Based on these results, the forward kinematics of the parallel mechanism can be numerically computed using the Newton–Raphson method. The workspace of the ankle is also analyzed and the motor limits are decided accordingly. Finally, an experimental demonstration consisting of four tests is carried out to evaluate the proposed methods and ankle module.
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October 2018
Research-Article
On the Comprehensive Kinematics Analysis of a Humanoid Parallel Ankle Mechanism
Chengxu Zhou,
Chengxu Zhou
Humanoid and Human Centered Mechatronics
Research Line,
Istituto Italiano di Tecnologia,
via Morego, 30,
Genova 16163, Italy
e-mail: zhouchengxu@gmail.com
Research Line,
Istituto Italiano di Tecnologia,
via Morego, 30,
Genova 16163, Italy
e-mail: zhouchengxu@gmail.com
Search for other works by this author on:
Nikos Tsagarakis
Nikos Tsagarakis
Humanoid and Human Centered Mechatronics
Research Line,
Istituto Italiano di Tecnologia,
Genova 16163, Italy
e-mail: nikos.tsagarakis@iit.it
Research Line,
Istituto Italiano di Tecnologia,
via Morego, 30
,Genova 16163, Italy
e-mail: nikos.tsagarakis@iit.it
Search for other works by this author on:
Chengxu Zhou
Humanoid and Human Centered Mechatronics
Research Line,
Istituto Italiano di Tecnologia,
via Morego, 30,
Genova 16163, Italy
e-mail: zhouchengxu@gmail.com
Research Line,
Istituto Italiano di Tecnologia,
via Morego, 30,
Genova 16163, Italy
e-mail: zhouchengxu@gmail.com
Nikos Tsagarakis
Humanoid and Human Centered Mechatronics
Research Line,
Istituto Italiano di Tecnologia,
Genova 16163, Italy
e-mail: nikos.tsagarakis@iit.it
Research Line,
Istituto Italiano di Tecnologia,
via Morego, 30
,Genova 16163, Italy
e-mail: nikos.tsagarakis@iit.it
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 23, 2017; final manuscript received June 25, 2018; published online August 6, 2018. Assoc. Editor: Pierre M. Larochelle.
J. Mechanisms Robotics. Oct 2018, 10(5): 051015 (7 pages)
Published Online: August 6, 2018
Article history
Received:
October 23, 2017
Revised:
June 25, 2018
Citation
Zhou, C., and Tsagarakis, N. (August 6, 2018). "On the Comprehensive Kinematics Analysis of a Humanoid Parallel Ankle Mechanism." ASME. J. Mechanisms Robotics. October 2018; 10(5): 051015. https://doi.org/10.1115/1.4040886
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