Kinematic Decoupling Analysis and Design of a Biomimetic Robotic Elbow Joint

Figure 7

A novel biomimetic robotic elbow joint virtual prototype. 1, 3, 9, 11, 16, 18, 19, 20, 25, 26, and 27—revolute joints; 2 and 10—short bars; 4—frame; 5—upper arm; 6—long bar; 7 and 13—motor; 8 and 14—connectors; 12–15—motor bases; 17 and 23—connecting rods; 21—annular member; 22—moving platform; and 24—arm connector.