Design and Kinematics Analysis of a Novel Modular Hybrid Humanoid Robotic Arm

A novel serial-parallel hybrid humanoid robotic arm (HRA) is proposed, inspired by the human arm. The HRA is composed of shoulder joint, elbow joint and wrist joint with 8 degrees-of-freedom (DOF). The shoulder joint and wrist joint are composed of 3PSS/S parallel mechanism and the elbow joint is composed of R[Formula: see text] ([Formula: see text]) mechanism. The full forward kinematics model is established and the relationships between the general input velocity/acceleration and the general output velocity/acceleration are discovered. The analytical results are proved to be correct by utilizing a simulation solution of the HRA based on a parametrization method with determined values. This work provides new ideas for innovative mechanism design and a general method for kinematic analysis of HRA mechanism.