Design and analysis of a bionic two-DOF joint for dual-arm manipulator

This article presents a new bionic two-DOF robotic joint mechanism that makes it possible to mimic the humanlike motion completely. The proposed joint generates the two-DOF motion in a spherical surface free by the coupled motions of two independent motor-drive pairs. Also, it has the advantage that the payload ability, output power and stiffness of the mechanism can be increased greatly. Mechanism design will be mentioned in detail. Kinematics is studied to analysis the workspace and motion features of the mechanism. Based on these study, two basic motion modes are presented to express the motion of the proposed mechanism. In addition, basic simulations are performed to confirm the effectiveness of the proposed mechanism.