Human Upper Limb Kinematics And Anthropomorphic Robot Kinematic Design And Motion Planning

Anthropomorphic robotic limbs refer to the manipulator which has the similar functional structure and appearance with humanoid limbs, and are capable of compsating the excised limb (such as full size prosthetic limb), assisting the impaired limb with missing motor function (such as exoskeleton rehabilitation robot), and enhancing the limb more physical load capacity (such as exoskeleton powered robot). On the common fundamental problem of anthropomorphic robotic limbs in kinematic design and motion planning, this paper made extensively research of kinematic analysis and evaluation of human limb, motion mechanism and drive, and humanoid motion planning. These studies deepen human understanding of their own athletic ability, innovative design concept of human-like limbs, have important theoretical significance and application value. This paper carried out the following research:The functional kinematic link consisting of sternum-clavicle-scapula-humerus-the forearm (ulna+radius) was extracted from the physiological structure of the human upper limb based on the characteristics of functional activity of upper limb in daily living. The kinematic model of this functional kinematic link was established and the performance index to evaluate the dexterity and manipulability were proposed. Using the motion capture system, we provided the method to dynamicly reconstruct bony landmarkers and estimation of the centre of the glenohumeral joint in sense of least square. The motion ability of upper limb in three typical daily activities was quantitative evaluated and the evaluation result verified the validity of the evaluation method.Around the objectives on using engineering scientific method to reproduce the functional activities of human upper limb, firstly, the the kinemati mapping between exoskeleton robot and human upper limb was proposed to design exoskeleton robot with8active DoF and2passive DoF. Secondly, the flexible drive unit by pneumatic muscles wire rope-articular disc-wire rope-pneumatic muscles was built and developed rope tension and separation devices. This device guarantees the rehabilitation training safeness and comfortability. Finaly, the relative dexterity index was developed to quantitatively comparing the motion dexterity between rehabilitation robot and human upper limb and the experiment result verified that the motion mechanism and drive mechanism of the developped exoskeleton rehabilitation robot is reasonable..Because the existing method on solving workspace boundary of multi-DoF manipulator has following defect:large calculation, unstable iterative solution, this paper proposed the distance weight index to denfine the proximity between space point and grid corner and build the3D distance weight matrix to discribe the intensity of scattered points cloud around the different grid corner. The3D distance weight matrix was smoothed by the proposed3D convolution operation. Using the point cloud representing spatial position of endeffector by forward kinematic computation from uniformly scattered point in joint space, the algorithm for extracting workspac boundary of multi-DoF complex manipulator was proposed. This algorithm was used to analyse the workspace structure and inclusive relationships between human limb and exoskeleton robot and the result verified the effectiveness of the proposed algorimth of work space boundary extraction.The fundamental requirement of anthropomorphic robotic limbs is the ability to reproduce the spatiotemporal characteristics of the functional activities of human limb. In order to cover this target, the generalized Newton equation was established on the SE(3) and hybrid potential field was constructed to induce the hand moving in high curved trajectory with single peaked and bell-shaped velocity. The force one-form was derived under the action of hybrid potential field and differential mapping was also derived to discribe the relationship between force one-form and the covector on the SE(3) under group structure. The quasi-potential field to induce the wrist joint movement was constructed and proposed the humanoid motion planning method for anthropomorphic robotic limbs. The generated trajectory of functional activities was compared with the measured trajectory and the result indicated that the proposed the motion planning method for anthropomorphic robotic limbs was capable of reproducing the spatiotemporal characteristics of the movements of human limb.