Configuration Synthesis And Dynamics Research Of 7-DOF Humanoid Robotic Arm

With the development of mechanical, electronic, aerospace, military and bio pharmaceutical industry, more and more industrial products and scientific experiments require automation, precision, high efficiency, high quality and high reliability. Just as Bill Gates predicted that the future robots will like a personal computer as the popularity of each family and change human’s life. Compared with other mechanical arm humanoid robot arm has high adaptability and more flexible of the executive action.Research on configuration aspects of humanoid arm was related to functional mechanism of completing the relevant operation. The movement mechanism of human arm was analyzed, and the anthropomorphic manipulator configuration was established through the relevant principle of robot technology. And the kinematics and dynamics characteristics were researched. The main contents are:(1)The movement mechanism of human arm was analyzed, and the anthropomorphic manipulator configuration was established through the relevant principle of robot technology. The global relative manipulability index was proposed in analyzing the flexibility of different manipulator configurations and the optimal configuration of humanoid arm was obtained.(2)The characteristics of humanoid arm institutions and related function principle were studied, and its position and posture expression method were studied. Then link coordinate systems are established and parameters are determined by D-H method.(3)The forward and inverse kinematics were analyzed, and the solution was simulated by Robotics Toolbox. The workspace of robotic arm was analyzed and studied.(4)Finally, the dynamic aspect was analyzed, and it’s Jacobi matrix and the torque expression were obtained. And the simulation analysis was carried out using the Robotics Toolbox, and the moment the changes was obtained.The basic theory and research method of humanoid robotic arm can be expanded by the research method of this dissertation and the results. It has important theoretical significance and practical value in engineering for mechanism innovation design and practical application.