Kinematics Performance Analysis of a Robot Hip Joint

Kinematics research of mechanism is very important, the dynamic analysis and the design are based on linematics analysis. In this paper, a novel robot hip joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and Jacobin matrix is established. Then the linematics transmission performance evaluation index is defined. Furthermore the linematics transmission performance index is analyzed. The hip joint has good linematics transmission performance at the initial position. With the increase of workspace, linematics transmission performance gradually decreased. 3-RRR parallel mechanism is the ideal prototype of bionic robot and rehabilitation robot hip joint.