On The General Robot Of Humanoid Arm

In this thesis, based on the research on the feature of the human arms, set up the model of the general robot of humanoid arm and then do research on its kinematics. In general, most of the humanoid arm robot are 7 DOF (Degree of Freedom), because humanoid arm is more coincident to the function of human arm when it has 7 DOF. But for design and manufacture, the more freedom the robot has, the more complication and cost need. In order to simplify the mechanism, reduce the cost, extend the application etc., necessary selection with 7 DOF has been made and the robot model of humanoid arm with 5 DOF has been obtained. At the same time the kinematics analysis and simulation of the general robot of humanoid arm model have been carried out in this thesis with MATLAB.The main contents and the achievements are as follows:1. Break out the thought of building the models for special movement, and sets up the robot model which applying to the non-specific movement;2. Founded on D-H coordinate system, by means of transformation equations, a series of kinematics equations are deduced to realize forward kinematics;3. As inverse kinematics is difficult and hot point in the robot's study, iteration method has been adopted to realize it,and then Matlab is used to provide that the method is right;4. To do kinematics analyzes and simulation for the robot model with Matlab, the result shows that the designed robot can simulate the movement of human arm, so the model is reasonable and reaches the aim.