Design And Analysis Of 7-DOF Humanoid Arm

Under the influence of the trend of "China made 2025”,the service robot has entered a rapid development wave,in which the multi-functional auxiliary arm has gradually become a hot research hotspot.This paper puts forward a design scheme of seven degrees of freedom mechanical arm based on human anatomy for two objects of aging disabled persons and large engineering equipment.Solving large-scale engineering equipment assembly requires multiple engineers to cooperate and serve in a relatively narrow environment and to serve the elderly and disability with a high cost.Characteristic inculdes:(1)The mechanical arm with full rigid body structure ensures strong stability at the end.(2)When the robot arm with redundant degrees of freedom makes it possible to serve disabled people with older ages,the remaining joints can be freely moved according to the actual space conditions to avoid encountering the aided person;(3)The manipulator with similar size and similar driving effect can be applied directly to the work scene designed for human beings.Firstly,the mechanism of human upper limb movement is studied and analyzed.The human body's arm completes the action type to distinguish the degrees of freedom,and analyzes the human upper limb bones and muscles required for each degree movement.In combination with the design requirements of the manipulator,structural design of each joint of the manipulator is performed,and driving matching and selection are performed according to the characteristics of each joint movement.Select the sensors required for the robot to perform the specified task.The parameters of the articulated position of the hydraulically driven joint were optimized and the structure of the manipulator was improved.The kinematics of the manipulator is calculated,and the position relationship between the joints is established by the determination of the DH parameters of the manipulator.The solution of the forward and inverse kinematic equations is solved.The trajectory of the manipulator arm is represented by the fifth-degree polynomial interpolation;the simulation analysis is performed based on MATLAB.Verification of the kinematics theory of the robot arm is reversed,and the angular displacement of each arm of the manipulator arm in the working space of the manipulator and at a given position is obtained,which provides the basis for the dynamic analysis of the manipulator.Topological lightweight design and strength check for the key components of the manipulator,and the use of the ANSYS Workbench platform for topological optimization design of the key components of the manipulator,comparative analysis of the displacement of the key components of the manipulator before and after optimization,and the optimization of the structure Strength Check.Finally,the dynamics equation of the manipulator is obtained by using the Lagrange method.The joint simulation of ADAMS and MATLAB is used to establish a closed loop relationship between the joint angle,the angular velocity and the joint torque.A complete virtual prototype is established to complete the dynamic simulation of the manipulator,and the change diagram of the joint simulation moment is obtained.