Lightweight Voice Controlled Natural Humanoid Neck Movement Platform
The research demands for parallel mechanism is increasing due to its many advantages.This study designs a new lightweight RS-2RPS parallel mechanism to realize the natural human neck movement.The pitching and turning movements are realized by the horizontally-placed RS-2RPS parallel mechanism inside the head.The inverse kinematics of RS-2RPS parallel mechanism is obtained based on the inverse kinematics of 3-RPS parallel mechanism.The optimal sizes of the moving and fixed platforms that meet the requirements are computed by Matlab.The statics analysis of the fixed platform where the spherical joint is located is carried out by ANSYS,then the appropriate support scheme is selected and the layout of the telescopic rod is reasonably arranged.The experimental analysis of the whole movement platform verifies the feasibility and rationality of the natural human neck movement by RS-2RPS parallel mechanism.The RS-2RPS parallel mechanism has good performance and provides a new idea for the design and application of neck mechanism,and has the potential to increase the degree of freedom and the movement range of the whole mechanism.
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