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CHINESE JOURNAL OF MECHANICAL ENGINEERING Mechanics Unloading

Analysis and Experimentation of a New Type of Parallel Biomimetic Shoulder
Complex

Article · May 2023

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 CHINESE JOURNAL OF MECHANICAL ENGINEERING
·1·

DOI: 10.3901/CJME.2016.0413.051, available online at www.springerlink.com; www.cjmenet.com

Mechanics Unloading Analysis and Experimentation of a New Type

of Parallel Biomimetic Shoulder Complex

HOU Yulei, LI Zhisen, WANG Yi, ZHANG Wenwen, ZENG Daxing, and ZHOU Yulin*
School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

Received August 5, 2015; revised March 23, 2016; accepted April 13, 2016

Abstract: The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,
while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex. A new type biomimetic
shoulder complex, which adopts 3-PSS/S(P for prismatic pair, S for spherical pair) spherical parallel mechanism (SPM), is proposed.
The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces
with certain load are solved. Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the
unloading performance of the mechanism. In addition, the prototype mechanism of the shoulder complex is developed, and the force
feedback experiment is conducted to verify the static analysis, which indicates that the middle limb suffers most of the external force
and the effect of mechanics unloading is achieved. The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,
and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.

Keywords: biomimetic shoulder complex, humanoid robot, spherical parallel mechanism, carrying capacity, mechanics unloading

movements and presented experiments in which the robot

1 Introduction was controlled by surface electromyographic signals from a
human. VRIES, et al[10], presented the use of a neural
In recent years, the research on the bionic robot[1–2], network for the prediction of glenohumeral joint reaction
which is the robot system that imitates the delicate structure, forces based upon arm kinematics and shoulder muscle
movement principle and behavior of organisms in nature, electromyogram, which was promising and enabled long
has become a hot research topic in the robot fields. The term estimation of shoulder joint reaction forces.
humanoid robot[3–4] is an important branch of the field of Three degrees of freedom(DOFs) SPM, the structure and
bionic robot, and the structure and function of the function of which is very similar to that of the shoulder
humanoid robot joint decide the overall performance complex, is one of the typical less degrees of freedom
directly. parallel mechanism[11–12], and is very suitable to be the
As we know, the shoulder complex has good flexibility shoulder complex prototype mechanism of the humanoid
and possesses the largest range of movement in the human robot. ZHANG, et al[13], proposed a 3-DOF robot shoulder
body[5], which is the most sophisticated part in terms of joint and studied its driving characteristics combining the
degrees of freedom and motion[6]. Combining the velocity Jacobian matrix with virtual displacement
advantages of the parallel mechanism and the cable driven, principle. LO, et al[14], presented an upper limb
LIU, et al[7], proposed a bionic shoulder joint robot with a rehabilitation exoskeleton with an optimized 4R spherical
spherical hinge which is driven by a group of pneumatic wrist mechanism for the shoulder joint, which allowed the
artificial muscle. PARK, et al[8], introduced a passive exoskeleton to achieve the entire human shoulder
shoulder joint tracking device for upper limb rehabilitation workspace without mechanical interference. LU, et al[15],
robots which was characterized by light weight and low established the mathematical relationships between the
cost. IKEMOTO, et al[9], proposed a linkage mechanism suffered external torque of platform and the output torque
that can reproduce complex three-dimensional scapulo required by three cranks with component vector method,
and performed the force feedback control experiments of
* Corresponding author. E-mail: [email protected]
Supported by National Natural Science Foundation of China(Grant No.
3-RSS/S parallel mechanism which verify that the static
51275443), Key Project of Ministry of Education of China(Grant No. analysis model of parallel mechanism can be used as the
212012), Hebei Provincial Natural Science Foundation of China(Grant No. theoretical basis of the force control under low-speed
E2012203034), Specialized Research Fund for the Doctoral Program of
Higher Education of China(Grant No. 20111333120004), and Research conditions. GAN, et al[16], presented a systematic method in
Fund for Outstanding Youth in Higher Education Institutions of Hebei modeling kinematics, singularity and workspace analysis
Province, China(Grant No. Y2011114)
which provides optimization design index and a simpler
© Chinese Mechanical Engineering Society and Springer-Verlag Berlin Heidelberg 2016
 HOU Yulei, et al: Mechanics Unloading Analysis and Experimentation of a New Type
·2· of Parallel Biomimetic Shoulder Complex

kinematics model for dynamics and control of

linear-actuated symmetrical spherical parallel manipulators.
LI, et al[17], proposed a bionic eyes system of active
compensation for robot visual error by using a spherical
parallel mechanism and performed the optimization by
taking the worst-case performance index as the target.
The flexibility and the carrying capacity are closely
related. High carrying capacity is an important premise to
ensure the flexibility of the shoulder complex. As one of
the challenges for the bionic mechanism, the structure
design of high ratio of carrying capacity to deadweight is
worth focusing on. Then for the performance evaluation of
the shoulder complex, the high carrying capacity is one of
important indices, and should be considered particularly. Fig. 1. Model of the 3-PSS/S spherical
The shoulder complex[18–19] inevitably bears certain parallel shoulder complex
strength of force and torque while working. However, the
external force of the 3-RRR SPM[20], for the reason of the
structure, can’t be balanced by the input torque. Therefore
the additional load will be produced in the parallel limbs.
Then the additional load will cause a series of problems,
such as resulting in the deformation of the parallel limbs,
increasing friction of the kinematic pair, and reducing the
efficiency and accuracy. The problems above will seriously
restrict the application of the 3-RRR SPM. Therefore,
mechanics unloading, which can reduce all or most force
that the external force applied on the parallel limbs, is
necessary. Then the 3-PSS/S SPM is proposed for the
prototype mechanism of the human shoulder complex.
Based on the vector method[21], this paper analyzes the
statics of the 3-PSS/S SPM and compares the constrain Fig. 2. Schematic diagram of the 3-PSS/S
forces with attitude angle on the middle limb to that on spherical parallel mechanism
other limbs. Furthermore, the force feedback experiment is
The coordinate vector of point Ai in the stationary
conducted to test the mechanics unloading performance of
coordinate system can be represented as
the shoulder complex.
T
Ai = [ Si s i ci S i s i s i - Si c i ] , i = (1, 2, 3), (1)
2 Kinematics Analysis of the Shoulder
Complex where  i is the angle between Z axis negative direction
and O1Ai, i is the angle between X axis positive direction
As shown in Fig. 1, the 3-PSS/S spherical parallel and the projection of O1Ai in the XY plane ( 1 = 0 ,
shoulder complex mechanism comprises a moving 2 = 2π / 3 , 3 = 4π / 3 ), s i means sin  i , c i means
platform, a fixed base, three side limbs (PSS) and a middle cos  i , the rest is similar.
limb[22]. The input variable of the mechanism, denoting as The coordinate vector of point Bi in the moving
(S1, S2, S3), is the distance from the spherical pair Ai (i=1, 2, coordinate system can be represented as
3) to point O, which is the intersection of the three slide way
in the side limbs. T
Bi¢ = éë L2 s 2¢ci¢ L2 s 2¢si¢ L2 c 2¢ ùû , i = (1, 2, 3), (2)
As Fig. 2 shown, the stationary coordinate system O-XYZ
(denoted as {F}) of the 3-PSS/S SPM is set up with its
origin located at O. Z axis is along OO1 and up is taken to be where θ2¢ is the angle between w axis positive direction
the positive direction, X axis is in the plane determined by Z and O1Bi (in this paper, all the spherical pair connecting with
axis and OA1, and the direction towards A1 is taken to be the the moving platform are on the same plane, so θ2¢ = 90 ),
positive direction. The moving coordinate system O1-uvw hi¢ is the angle between u axis and the projection of O1Bi in
(denoted as {M}) is established with its origin located at O1, the uv plane( 1¢ = 0 , 2¢ = 2π / 3 , 3¢ = 4π / 3 ),
the w axis is normal to the moving platform and up is taken L2 = O1 Bi .
to be the positive direction, u axis is along the same direction Bi¢ in the stationary coordinate system can be expressed
with O1B1. as
 CHINESE JOURNAL OF MECHANICAL ENGINEERING ·3·

T
Bi¢ = F
¢
M RBi + O1O = [ ai bi ci + h ] , i = (1, 2, 3), (3)
3.1 Static analysis of the moving platform
The moving platform connects the side limbs with the
where h = OO1 , MF R is the transformation matrix from spherical pair, and the side limbs PSS possess six degrees of
the moving coordinate system to the stationary coordinate freedom and have no constraints on the moving platform,
system, can be expressed as so each of the side limbs only bear the constraint force
denoted as FBi without the constraint torque. And the force
çc c c s s - s c c s c + s s ÷ö
æ
çç ÷ that the middle limb supporting the moving platform is
F
M R =ç s  c s s s + c c s s c - c s ÷÷÷ , denoted as FN. For the convenience of the mathematical
ç çç ÷÷
è -s c s c c ø÷ modeling and emulation, all of forces or torques on the
moving platform are expressed in the stationary coordinate
ai = L2 (c c ci + c s s si - s c si ) , system {F}. Then FBi=(FBix, FBiy, FBiz)T, three projections
of FBi on each fixed axis are FBix, FBiy, and FBiz respectively,
bi = L2 (s c ci + s s s si + s c si ) , FN=(FNx, FNy, FNz)T, the projections of FN on each fixed
axis are FNx, FNy and FNz respectively. Gravity Go=(0, 0,
–mog)T, –mog means Go is contrary to Z-axis positive
ci = L2 (-s ci + c s si ) .
direction while mo is the quality of moving platform. The
force analysis is shown in Fig. 3.
The distance between the two spherical pairs in the side
limbs can be expressed as

Ai - Bi = l , i = (1, 2, 3) , (4)

where l = Ai Bi .
By substituting Eq. (2) and Eq. (3) into Eq. (4), the
following equation can be derived:

Si = (ai m1i + bi m2i - ei m3i )  l 2 - éê (ui ) 2 + (vi ) 2 + ( wi ) 2 ùú ,

ë û
i = (1, 2, 3) , (5) Fig. 3. Force analysis of the moving platform

where m1i = s i ci , When the moving platform is in equilibrium state, the
m2i = s i si , force equilibrium equation can be expressed as
m3i = c 1 ,
3
ei = ci + h , å FBi + FN + F + Go = 0, i = (1, 2, 3). (7)
ui = ai m2i - bi m1i , i=1

vi = ai m3i + ei m1i , Then Eq. (7) can be rewrited into scalar expression as
wi = bi m3i + ei m2i .
ì
ï 3
ï
3 Establishment of Static Equilibrium
ï
ï
ï
å FBxi + FNx - Fx = 0,
i =1
ï
ï
Equations of the Shoulder Complex ï 3
ï F + F - F = 0,
íå Byi Ny y i = (1, 2, 3). (8)
ï
ï i =1
To facilitate the analysis, the friction between the ï
ï
ï
ï
3
kinematic pairs is ignored tentatively. In a general sense, a ï
ï
ï
å FBzi + FNz - Fz - mo g = 0,
composite six dimensional force vector is applied on the î i=1
moving platform of the shoulder complex, and denoted as Choosing the geometry center of the moving platform to
be employed in evaluating the torques, the torque
æF ö equilibrium equation of the moving platform can be
Fw = çç ÷÷÷ , (6)
çè M ÷ø expressed as

3
where F=(–Fx, –Fy, –Fz )T, –Fx means the projection of F
å O1 Bi ´ FBi + M = 0, i = (1, 2, 3), (9)
on X-axis is contrary to X-axis positive direction when i=1

Fx>0, or else is opposite; M=(–Mx, –My, –Mz)T, –Mx means

the torque is an anti-clockwise moment about X-axis when where O1 Bi =(ai , bi , ci )T .
Mx>0, or else is opposite. Eq. (9) can be translated into scalar expression as
 HOU Yulei, et al: Mechanics Unloading Analysis and Experimentation of a New Type
·4· of Parallel Biomimetic Shoulder Complex

ì
ï 3 1
ï
ï
ï å ( FBzi bi - FByi ci ) - M x = 0, Ai Bi ´ FBi¢ + Ai Bi ´Gl = 0, i = (1, 2, 3),
2
(13)
ï
ï i =1
ï
ï 3
ï
íå ( FBxi ci - FBzi ai ) - M y = 0, i = (1, 2, 3). (10) where Ai Bi = ( mi , ni , ki ) T , FBi¢ = (- FBix
¢ , - FBiy
¢ , - FBiz
¢ )T .
ï
ï i =1
ï
ï Eq. (13) can be translated into scalar expression as
ï
ï
3
ï
ï
ï
å ( FByi ai - FBxi bi ) - M z = 0,
ï
î i=1 1
ì
ï ¢ ni + FByi
-FBzi ¢ ki - ml gni = 0,
ï
ï
ï 2
ï
ï
3.2 Static analysis of the connecting rod ï 1
í-FBxi
¢ ki + FBzi
¢ mi + ml gmi = 0, i = (1, 2, 3), (14)
ï
ï 2
in the side limbs ï
Each of the connecting rod in the side limbs connects the ï
ï
ï ¢ ¢
-F m + FBxi ni = 0.
moving platform and the sliders with the spherical pair, so ï
î Byi i
the side limbs only bear the constrain forces from the
moving platform and the sliders besides gravity Considering the influence of the local degrees of freedom,
T Eq. (14) can be expressed as
Gl = (0, 0, - ml g) . ml is quality of the moving
platform. In the stationary coordinate system {F}, the ìï n
constrain forces on the side limb from the moving platform ïï FByi ¢ = i FBxi ¢ ,
ïï mi
can be denoted as FBi¢ = (-FBix ¢ , - FBiy
¢ , - FBiz
¢ )T í i = (1, 2, 3). (15)
ïï ¢ ki - ml gmi
2 FBxi
¢ =
ïï FBzi ,
¢ ,
i = (1, 2, 3) , which is the reacting force of FBi . FBix ïïî 2mi
¢ and FBiz
FBix ¢ are three projections of FBi¢ on each fixed
axis. The constrain force on the side limb from the sliders
3.3 Static analysis of the sliders in the side limbs
denoted as FAi = ( FAix , FAiy , FAiz )T (i=1, 2, 3), FAix , The constrained forces of the sliders from the fixed base
FAiy and FAiz are three projections of FAi on each can be decomposed into two parts, one is the force along the
motion direction of the slider, and the other is the force
fixed axis. Defining Ai Bi = ( mi , ni , ki ) T (i=1, 2, 3). The perpendicular to the motion direction of the slider. The force
force analysis is shown in Fig. 4. along the motion direction of the slider is the driving force of
the shoulder complex mechanism, while the force
perpendicular to the motion direction of the slider is only for
guiding and has no effect on solving for the driving force
from the static equilibrium equations of the mechanism. So
the static equilibrium equation of the slider only need to
consider the force along the motion direction of the slider to
get the driving force denoted as Fmi . The constrain force
from the limb denoted as FAi¢ = ( FAix ¢ , FAiy
¢ , FAiz
¢ )T in
fixed coordinate system {F}, which is the reacting force of
FAi . The force analysis is shown in Fig. 5.

Fig. 4. Force analysis of the connecting rod

When the side limbs are in equilibrium state, the force

equilibrium equation can be expressed as

FAi + FBi¢ + Gl = 0, i = (1, 2, 3). (11)

Eq. (11) can be translated into scalar expression as

ïìï FAxi - FBxi

¢ = 0, Fig. 5. Force analysis of the sliders
ïï
í FAyi - FByi ¢ = 0, i = (1, 2, 3). (12)
ïï When the sliders are in equilibrium state, the force
ïï FAzi - FBzi
¢ - ml g = 0, equilibrium equation can be expressed as
î

Choosing the point of Ai to be employed in evaluating ¢ ci + FAiy

FAix ¢ ci + ( FAiz
¢ + mh g )c i - Fmi = 0,
the torques, the torque equilibrium equation of the side
limbs can be expressed as i = (1, 2, 3), (16)
 CHINESE JOURNAL OF MECHANICAL ENGINEERING ·5·

where i —Angle between X axis positive direction

and OAi, ci = s ci ,
i —Angle between Y axis positive direction
and OAi, ci = s si ,
 i —Angle between Z axis positive direction
and OAi, c i = -c .
mh —Quality of each slider.

3.4 Static analysis of the middle limb

The middle limb connects the moving platform with the
spherical pair, and is fixed with the fixed base. So obviously
the force exerting on the middle limb by the moving
platform, which can be denoted as FN¢ = (-FNx ¢ , - FNy
¢ , Fig. 6. Relationship between FN¢ and Fz
-FNz¢ )T in the stationary coordinate system {F}, is equal
in size and opposite in direction to the force of FN .
Namely FNx ¢ = FNx , FNy ¢ = FNy , and FNz¢ = FNz .
From the above mentioned, by solving simultaneous
equations composed of Eq. (8), Eq. (10), Eq. (12), Eq. (15)
and Eq. (16), a total of 24 forces acting on each component
of the shoulder complex mechanism can be calculated with
the help of MAPLE software. The analytical solutions of
the forces aren’t described in this paper for their great
length.

4 Numerical Analysis of Static Force

on the Shoulder Complex

The structural parameters of 3-PSS/ S shoulder complex

mechanism are set as following: L2=48 mm, ε=π/6, l=96
mm, L2=9.6 mm, mo=0.11 kg, ml=0.012 kg, mh=0.023 kg.
Substituting the geometric parameters and the external load
into the simultaneous equations, then the forces applied on
the middle limb and the side limbs can be obtained by
calculation with MAPLE software. Considering the
limitation of the paper length, parts of the computation
results in different conditions are taken as example in the
paper.
When =–π/6, β=0, γ=0, M=(0 N • m, 0 N • m, 0 N • Fig. 7. Relationship between FN¢ , FBi¢
m)T, Fz changes in the interval of 1 N within the scope of (0 and M z respectively
N, 45 N), the varying case of load on the middle limb is
shown in Fig. 6. When =–π/6, β=0, γ=0, F=(0 N, 0 N, 2 When Fw=(5 N, 4 N, 7 N; 0 N • m, 0 N • m, 0 N • m)T,
N)T, Mz changes in the interval of 0.25 N • m within the =–π/6 or π/3, β and γ changes separately in an interval of
scope of (0 N • m, 2.75 N • m), the varying case of load on π/30 within the scope of (–π/5, π/5), the value of FN¢ is
each limb including the middle limb is shown in Fig. 7. always 9.747 N, which having nothing to do with the
From the data in Fig. 6, it can be seen that when the change of the attitude angle. Meanwhile, the constrain force
center of the moving platform only suffers a pure force, the FBi¢ on the side limbs maintain a value at 0.015 N. So the
force FN¢ has an increasing variation of direct proportion effect of the mechanics unloading of the shoulder complex
with the load force Fz , while the forces FBi¢ on the side can be achieved for the middle limb bears load 10 times
limbs are always 0.015 N and far less than the force on the more than one side limb.
middle limb. As is shown in Fig. 7, when the moving When Fw=(0 N, 0 N, 0 N; 3 N • m, 5 N • m, 4 N • m)T,
platform suffers both force and torque, the forces FBi¢ and =–π/6 or π/3, β and γ changes separately in an interval of
FN¢ are both varying in direct proportion as the load on the π/30 within the scope of (–π/5, π/5), the relationship
moving platform increasing. And the changing curves of between the values of force FN¢ , FB¢1 , FB¢2 , FB¢3 and the
forces on three side limbs are overlapping in this case attitude angle respectively is obtained as shown in Fig. 8
whose values less than one-tenth of the force FN¢ on the and Fig. 9.
middle limb. As Fig. 8, Fig. 9 shown, when the pure torque is applied
 HOU Yulei, et al: Mechanics Unloading Analysis and Experimentation of a New Type
·6· of Parallel Biomimetic Shoulder Complex

on the moving platform, the value of FN¢ maintains a minimum value of FN¢ ) of FN¢ . When =π/3, FN¢
higher level than the values of FBi¢ . When =–π/6, FN¢ changes within the scope of (0.760 N, 1.015 N), the values
changes within the scope of (1.428 N, 1.856 N), in contrast, of FB¢1 ~ FB¢3 are in the scope of (0.039 N, 0.174 N), (0.114
the values of FB¢1 ~ FB¢3 are in the scope of (0.201 N, 0.358 N, 0.240 N) and (0.007 N, 0.098 N) separately, less than
N), (0.074 N, 0.140 N) and (0.028 N, 0.304 N) separately, 31.58% of FN¢ . That means the middle limb bears quite a
less than 25.07% (the maximum value of FBi¢ /the meaningful part of external load in this situation.

Fig. 8. Relationship between FN¢ , FB¢1 , FB¢2 , FB¢3 and the attitude angle respectively when =–π/6

Fig. 9. Relationship between FN¢ , FB¢1 , FB¢2 , FB¢3 and the attitude angle respectively when =π/3

When Fw=(3 N, 4 N, 5 N; 6 N·m, 4 N·m, 7 N • m)T, between the values of force FN¢ , FB¢1 , FB¢2 , FB¢3 and the
=–π/6 or π/3, β and γ changes separately in an interval of attitude angle respectively is obtained as shown in Fig. 10
π/30 within the scope of (–π/5, π/5), the relationship and Fig. 11.
 CHINESE JOURNAL OF MECHANICAL ENGINEERING ·7·

Fig. 10. Relationship between FN¢ , FB¢1 , FB¢2 , FB¢3 and the attitude angle respectively when =–π/6

Fig. 11. Relationship between FN¢ , FB¢1 , FB¢2 , FB¢3 and the attitude angle respectively when =π/3

As shown in Fig. 10, Fig. 11, the value of FN¢ maintains of FN¢ . From this the middle limbs’ load sharing effect is
a higher level than the values of FBi¢ . When =–π/6, FN¢ remarkable.
changes within the scope of (7.542 N, 7.759 N), in contrast, By numerical analysis of the static force on the shoulder
the values of FB¢1 ~ FB¢3 are in the scope of (0.135 N, 0.339 complex respectively in pure force, pure torque and
N), (0.121 N, 0.320 N) and (0.007 N, 0.099 N) separately, composite force load conditions, it can be concluded that
less than 4.49% of FN¢ . When =π/3, FN¢ changes within the middle limb can bear a considerable proportion of the
the scope of (7.594 N, 7.811 N), while the values of external load in different working cases, while the side
FB¢1 ~ FB¢3 are in the scope of (0.143 N, 0.348 N), (0.129 N, limbs bear a small part of the external load. So the effect of
0.329 N) and (0.002 N, 0.108 N) separately, less than 4.58% the force unload can be realized. From the other point of
 HOU Yulei, et al: Mechanics Unloading Analysis and Experimentation of a New Type
·8· of Parallel Biomimetic Shoulder Complex

view, the mechanical property of the shoulder complex is motor and the force. The force transmission and feedback
improved obviously. information of the shoulder complex mechanism can be
achieved by comparing the experimental results with the
5 Force Feedback Experiment theoretical values of static analysis.
of the Shoulder Complex As shown in Fig. 14, main devices used for the force
feedback experimentation include: the 3PSS/S spherical
The prototype mechanism of the shoulder complex biomimetic shoulder complex mechanism, one LC1104
consists of two parts: the mechanical body and the micro strain force transducer, one ZP-100 high precision
electrical control system. The mechanical body mainly push and pull force transducer, one YASKAWA MP2300S
comprises the moving platform, the fixed base, limbs with movement controller system, one PH5956D servo units and
hinges and linear module units etc, as shown in Fig. 12. The three servo motors with Hall element en dynamic sign test
electrical control system mainly includes the mechanism and analysis instrument, three SGDV coder.
movement controller, three SGDV servo units, three servo
motors, several displacement transducers and the controller
cabinet etc, as shown in Fig. 13.

Fig. 14. Experimental system of the shoulder complex

For the convenience of measurement, the incremental

Fig. 12. Mechanical body of the shoulder complex force on the moving platform center in the interval of 5 N
are exerted by ZP-100 high precision push and pull force
transducer when the attitude angle is =–π/6, β=0, γ=0.
The peak value of the force on the middle limb is extracted
from the dynamic signal test and analysis instrument, while
the force on the side limbs is obtained by analyzing the data
of movement controller system, as shown in Table 1.
When an incremental moment in the interval of 0.5 N •
m and a force of 2 N is exerted on the moving platform by
the high precision push and pull force transducer, the
relational expression between the load on the each limb
including the middle limb and the external load is shown in
Fig. 13. Electrical control system of the shoulder complex Table 2.
What should be explained is that there is a deviation
The force feedback experiment is used for describing a between the theoretical value and the experimental data in
mapping relation between the input force and the output Table 1 and Table 2. The possible influence factors include
force of the biomimetic shoulder complex. A micro strain the friction force of the components of the shoulder
force transducer is required to be installed on the middle complex mechanism, the deviation of external load acting
limb. When the force or moment is exerted on the moving point on the moving platform, the selection of measuring
platform, the micro strain force transducer on the middle methods and the precision of the force cell, etc.
limb would transfer analog output signal to the dynamic From the data in Table 1, it is shown that when the center
signal test and analysis system. Then, the force on the of the moving platform only suffers a pure external force,
middle limb will be displayed by the system in real time. the force FN¢ on the middle limb increases as the load on
Meanwhile, YASKAWA movement controller displays the the moving platform increases, while the forces FBi¢ on
torque output values of the servo motors through analyzing the side limbs change smoothly and are less than one
supplying of each motor’s input current from the percent of the force of the middle limb. So it indicates that
servo-drive. the middle limb bears the vast majority of the load from the
The force on the side limbs can be calculated by the moving platform when the mechanism suffers a pure
relational expression between the torque values of the servo external force.
 CHINESE JOURNAL OF MECHANICAL ENGINEERING ·9·

Table 1. Force and torque of each component when the loaded torque is zero
Experimental value Calculated value Average absolute
Parameter of analysis
1 2 3 4 5 1 2 3 4 5 error
Loaded force Fx / N 0 0 0 0 0 0 0 0 0 0 
Loaded force Fy / N 0 0 0 0 0 0 0 0 0 0 
Loaded force Fz / N 5 10 15 20 25 5 10 15 20 25 
Loaded torque Mx / (N • m) 0 0 0 0 0 0 0 0 0 0 
Loaded torque My / (N • m) 0 0 0 0 0 0 0 0 0 0 
Loaded torque Mz / (N • m) 0 0 0 0 0 0 0 0 0 0 
Force on middle limb FN¢ / N 4.6 9.2 13.9 19.4 23.5 5.31 10.31 15.30 20.31 25.30 0.98
Force on side limb FB¢1 / N 0.019 0.017 0.017 0.018 0.015 0.015 0.015 0.015 0.015 0.015 0.002
Force on side limb FB¢2 / N 0.010 0.010 0.010 0.008 0.005 0.015 0.015 0.015 0.015 0.015 0.006
Force on side limb FB¢3 / N 0.021 0.018 0.018 0.016 0.013 0.015 0.015 0.015 0.015 0.015 0.003
Ratio of torque T1 / % –0.83 –0.77 –0.77 –0.83 –0.67      
Ratio of torque T2 / % –0.50 0.50 0.50 0.44 0.28      
Ratio of torque T3 / % –0.83 –0.72 –0.72 –0.67 –0.56      

Table 2. Force and torque of each component when the loaded torque is not zero
Experimental value Calculated value Average absolute
Parameter of analysis
1 2 3 4 5 1 2 3 4 5 error
Loaded force Fx / N 0 0 0 0 0 0 0 0 0 0 
Loaded force Fy / N 0 0 0 0 0 0 0 0 0 0 
Loaded force Fz / N 2 2 2 2 2 2 2 2 2 2 
Loaded torque Mx / (N • m) 0 0 0 0 0 0 0 0 0 0 
Loaded torque My / (N • m) 0 0 0 0 0 0 0 0 0 0 
Loaded torque Mz / (N • m) 0.5 1 1.5 2 2.5 0.5 1 1.5 2 2.5 
Force on middle limb FN / N 2.06 2.02 1.99 1.95 1.89 2.34 2.38 2.42 2.46 2.51 0.44
Force on side limb FB¢1 / N 0.049 0.073 0.092 0.120 0.145 0.027 0.065 0.103 0.141 0.179 0.019
Force on side limb FB¢2 / N 0.025 0.041 0.103 0.170 0.227 0.027 0.065 0.103 0.141 0.179 0.021
Force on side limb FB¢3 / N 0.051 0.087 0.123 0.157 0.195 0.027 0.065 0.103 0.141 0.179 0.019
Ratio of torque T1 / % –2.65 –3.94 –4.97 –6.27 –7.59      
Ratio of torque T2 / % –1.29 –2.03 –5.12 –8.4 –11.30      
Ratio of torque T3 / % –2.72 –4.69 –6.62 –8.43 –10.46      
Comment: T1, T2, T3 is the ratio of the driving torque and the rated torque of the motor. The rated torque of the motor is 0.0637 N • m. Average absolute
error is the average value of each measuring error between the experimental value and the calculated value.

As is shown in Table 2, when the center of the moving (3) The carrying capacity and motion performance of
platform suffers a compound force, the forces FBi¢ on the the shoulder complex can be improved by the realization of
side limbs vary significantly and are less than one-tenth of mechanics unloading of 3-PSS/ S spherical parallel
the force FN¢ on the middle limb as the load on the mechanism.
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