The Kinematics And Mechanics Analysis For End-effector Of Humanoid Robotic Arm

With the advance of science and technology and the development of social economic, the application field of the manipulator is constantly expanding and has ranged from industrial to daily life. Therefore, in order to improve the quality of life for people with disabilities(especially upper limb disabilities) in their daily lives and enhance the ability of self-care. this paper mainly studies the humanoid robot arm end effector(the robot), and developed a humanoid robot that can complete some things in daily life like the hand and the structure of humanoid robot is relatively simple, so as to achieve the desired functional requirements. The detailed contents are as follows:From the perspective of bionics, this paper analyses the structural forms of the humanoid manipulator, and draws a conclusion that a structure includes a palm, three fingers, connecting rod, pushing plate and so on, and establishes 3D solid model of the humanoid manipulator by Solid Works.From a kinematic point of view, this paper analyses and establishes the kinematic model. Then MATLAB/Simulink is used to simulate and make sure of the joints’ angle, velocity, acceleration at any time and the movement trajectory of the terminal position based on the theory of kinematics analysis, and the result that manipulator moves smoothly would be got after analyzing the simulation results.In this paper, it has carried on the simple mechanics analysis of the manipulator, and obtained each joint’s force and driving force when it grasps objects, and determined that the manipulator can grab objects stably; Then the strength analysis is carried out on the manipulator, and determines the materials that meets the strength requirements.To sum up, the main structure of the humanoid manipulator, kinematics analysis and simulation, the simple mechanics analysis, the strength calculation and analysis of the humanoid manipulator are completed in this paper. it validates the rationality and feasibility of the humanoid manipulator’s structure.