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Applied Bionics and Biomechanics
Volume 2015, Article ID 145040, 8 pages
http://dx.doi.org/10.1155/2015/145040
Research Article

Design and Dynamic Analysis of a Novel Biomimetic Robotics Hip Joint

1College of Mechanical Engineering, Hebei United University, Tangshan 063009, China
2College of Mechanical Engineering, Yanshan University, Qinhuangdao 066009, China

Received 12 January 2015; Revised 12 March 2015; Accepted 12 March 2015

Academic Editor: Saverio Affatato

Copyright © 2015 Bingyan Cui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

In order to increase the workspace and the carrying capacity of biomimetic robotics hip joint, a novel biomimetic robotics hip joint was developed. The biomimetic robotics hip joint is mainly composed of a moving platform, frame, and 3-RRR orthogonal spherical parallel mechanism branched chains, and has the characteristics of compact structure, large bearing capacity, high positioning accuracy, and good controllability. The functions of the biomimetic robotics hip joint are introduced, such as the technical parameters, the structure and the driving mode. The biomimetic robotics hip joint model of the robot is established, the kinematics equation is described, and then the dynamics are analyzed and simulated with ADAMS software. The proposed analysis methodology can be provided a theoretical base for biomimetic robotics hip joint of the servo motor selection and structural design. The designed hip joint can be applied in serial and parallel robots or any other mechanisms.