Structural Design and Kinematic Analysis of Humanoid Robot Arms
Aiming at the problem that human beings are prone to fatigue when they repeatedly perform a single action in the performance test of the driver attention monitoring system, a humanoid robot arm is designed to simulate the driver's behaviors such as answering and making handsets and smoking. Fir...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.02.014 |
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| _version_ | 1841546966645866496 |
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| author | Yang Yakun Zhang Xiaojun Qin Kang |
| author_facet | Yang Yakun Zhang Xiaojun Qin Kang |
| author_sort | Yang Yakun |
| collection | DOAJ |
| description | Aiming at the problem that human beings are prone to fatigue when they repeatedly perform a single action in the performance test of the driver attention monitoring system, a humanoid robot arm is designed to simulate the driver's behaviors such as answering and making handsets and smoking. Firstly, based on the exoskeleton design method, the structure of the robot arm and the bionic hand is designed. Secondly, the improved D-H method is used to establish the kinematics model of the manipulator; the forward and inverse kinematics are solved, and the workspace is analyzed; the dynamics simulation of the robot arm is carried out in Adams software to obtain its motion characteristics and load characteristics. The simulation results show that the structural design of the manipulator is reasonable, and the selection of joint flexible actuators meets the requirements. |
| format | Article |
| id | doaj-art-f19701c15c1f43b4896eea259cd30748 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-f19701c15c1f43b4896eea259cd307482025-01-10T14:59:48ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-02-01489610349593443Structural Design and Kinematic Analysis of Humanoid Robot ArmsYang YakunZhang XiaojunQin KangAiming at the problem that human beings are prone to fatigue when they repeatedly perform a single action in the performance test of the driver attention monitoring system, a humanoid robot arm is designed to simulate the driver's behaviors such as answering and making handsets and smoking. Firstly, based on the exoskeleton design method, the structure of the robot arm and the bionic hand is designed. Secondly, the improved D-H method is used to establish the kinematics model of the manipulator; the forward and inverse kinematics are solved, and the workspace is analyzed; the dynamics simulation of the robot arm is carried out in Adams software to obtain its motion characteristics and load characteristics. The simulation results show that the structural design of the manipulator is reasonable, and the selection of joint flexible actuators meets the requirements.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.02.014Robot armStructural designKinematicsWorkspace |
| spellingShingle | Yang Yakun Zhang Xiaojun Qin Kang Structural Design and Kinematic Analysis of Humanoid Robot Arms Jixie chuandong Robot arm Structural design Kinematics Workspace |
| title | Structural Design and Kinematic Analysis of Humanoid Robot Arms |
| title_full | Structural Design and Kinematic Analysis of Humanoid Robot Arms |
| title_fullStr | Structural Design and Kinematic Analysis of Humanoid Robot Arms |
| title_full_unstemmed | Structural Design and Kinematic Analysis of Humanoid Robot Arms |
| title_short | Structural Design and Kinematic Analysis of Humanoid Robot Arms |
| title_sort | structural design and kinematic analysis of humanoid robot arms |
| topic | Robot arm Structural design Kinematics Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.02.014 |
| work_keys_str_mv | AT yangyakun structuraldesignandkinematicanalysisofhumanoidrobotarms AT zhangxiaojun structuraldesignandkinematicanalysisofhumanoidrobotarms AT qinkang structuraldesignandkinematicanalysisofhumanoidrobotarms |