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A high-dexterity low-degree-of-freedom hybrid manipulator structure for robotic lion dance |
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| Authors: | Liang Yan I-Ming Chen Song-huat Yeo Yan Chen Gui-lin Yang |
| Institution: | 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China 2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Nanyang, 639798, Singapore 3. Mechatronics Group, Singapore Institute of Manufacturing Technology, Nanyang, 638075, Singapore |
| Abstract: | Lion dance is a very popular and lively Chinese traditional art form.A robotic project in Singapore has been dedicated to the design and demonstration for similar traditional art forms using modern mechatronics technology.This paper deals with a novel six-degree-of-freedom (6-DOF) hybrid manipulator with high stiffness,high loading capability and high dexterity,mimicking the lion dancer's upper body motions along with the lion head movements.The design of the hybrid manipulator consists of a 2-DOF torso str... |
| Keywords: | Parallel mechanism Hybrid manipulator Kinematics analysis |
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