3SPS-1S parallel mechanism based humanoid manipulator system

Traditional humanoid manipulators are generally large in size and have low stiffness. To compensate for these shortcomings, a 3SPS-1S parallel mechanism was designed, with spherical movements with three degrees of freedom. A model was established and kinematic analysis was conducted for this parallel mechanism. A humanoid arm platform was built on the basis of a series-parallel configuration. Furthermore, a motor-hydraulic combined drive system was developed to reduce the size and enhance the performance. A set of DC servo control systems was designed based on a hybrid PID control algorithm, which improved the response speed and control precision of the system. This humanoid arm is proven to have good flexibility through experiments, and the flexibility matches the movement of human arms.