Abstract
A 5-DOF anthropomorphic shoulder mechanism is presented. A combination of two four-bar links mimics elevation-depression and horizontal abduction-adduction motions of a scapular-clavicle in addition to a spherical rotation of the root of the upperarm. It provides a humanlike movement and contributes to enlarge the workspace of the arm without reducing the support rigidity. The mechanism was analyzed with a help of the compliance ellipsoid.
