The Arm Design Of Biped Robot

The robotic arm is an important part of the interaction between the biped robot and the outside world,and an important carrier to complete its tasks.Due to the complexity of the actual working conditions and the diversity of tasks performed,the robotic arm requires a large working space and a high degree of flexibility.The traditional manipulator arm uses the degree of freedom of the rotating shoulder to increase the working space,but the rotating shoulder joint is often driven by a motor.Because the motor driving force is small,the motion performance of the robot arm is limited.How to improve the motion performance of the robot arm is studied by the robot arm One of the important topics.The traditional manipulator structure adopts the method of series degrees of freedom,which lacks in flexibility and is difficult to adapt to the complex working environment.Therefore,how to effectively improve the flexibility of the manipulator is a challenge faced by the manipulator.The weight reduction of the mechanical arm is always the focus of structural design,and the strength and rigidity of the mechanical arm structure are always a factor restricting its weight reduction.How to find the balance between them is also a major difficulty in structural design.To this end,this article designed a seven-degree-of-freedom biped robot arm,and analyzed and optimized its structure.The main work is as follows:First,a seven-degree-of-freedom manipulator structure is designed.The swivel shoulder module is designed to increase the working space of the robot arm,and the freedom of the swivel shoulder is driven by a hydraulic cylinder,which solves the problem of insufficient space in the robot's torso,the problem of small motor driving force,and the problem of light weight.The upper arm module is designed,and the timing belt is used to solve the problem of excessive weight at the lower end of the mechanical arm and insufficient motion performance.A parallel tripod mechanism is designed,which uses a combination of two linear motors and a connecting rod to solve the problem of flexibility and light weight of the mechanical arm.Secondly,the structure of the 7-degree-of-freedom manipulator is analyzed and verified.Based on the D-H method,the kinematics model of the manipulator is established,and the correctness of the model is verified through the solution of forward and inverse kinematics.The positive model of kinematics and MATLAB were used to establish the simulation model of the robotic arm.Through the simulation analysis and Monte Carlo method,the flexibility and working space of the robotic arm were verified.Using ADAMS to simulate the manipulator,it is verified that the selected device meets the design requirements.Using ABAQSU,the finite element analysis of the parallel tripod mechanism was conducted to verify the reliability of the parallel tripod mechanism.Then,for the optimization of the mechanical arm structure,a differential evolution algorithm based on proxy model is proposed.The agent model is combined with the differential evolution algorithm to obtain an improved differential evolution algorithm.The performance of the proposed algorithm is verified on six data test sets.The results show that the proxy model is conducive to the convergence of the differential evolution algorithm.The proposed algorithm is used to optimize the structural parts.The final result shows that the proposed algorithm is superior to the differential evolution algorithm under the conditions of ensuring strength and achieving lightweight structure.Finally,the full text work is summarized and the future research direction is prospected.