The Configuration Synthesis And Kinematics Analysis Of A 4-DOF Robotic Arm For Handicapped People

To help the handicapped people to do some daily activities to improve the quality of life and enjoy life better, the 4-DOF robotic arm is designed which can be mounted on wheelchairs and mobile platform, according to practical operating requirements, the robotic arm can help the handicapped people to dine, grub goods and so on. The main research contents as follows:Firstly, according to practical operating requirements, the robotic arm should have large workspace.And the robotic arm has 4 DOF owing to the practical tasks. In conclusion,the robotic arm is a serial 4-DOF manipulator.Secondly, based on D-H method, the robotic arm’s joints coordinate systems is established; the forward kinematics of the terminal executing link is found; the answers of the inverse kinematics is found by applying matrix, and is proved with examples.Thirdly, through the analyses of the manipulability of the robotic arm and the size of person’s arm, the length of all links is confirmed.Then, the linear velocity Jacobin matrix is found and singularitied. At last, through the mumerical method, cartography and the MATLAB, the workspace of the robotic arm is confirmed.Fourthly, the proper transmission system is determined and the motor is d-c generator, the decelerator is harmonic gear reducer and planetary reducer to drive, which is used for the robotic arm. With the transmission system, the robotic arm is in efficiency. And then, the solid model of the robotic arm is established and the critical part such as the support of the upper arms is tested by SolidWorks.The analyses of the configuration and kinematics of the robotic arm guarantee it satisfy the handicapped people’s needs in daily life. There are also some features in the robotic arm, such as simple structure, small volume, light weight, large workspace, and it provides research basements for the assisting handicapped people robotic system.