Design And Implementation Of Lightweight Humanoid Robot Arm

Due to factors such as physical device level,material technology,control algorithms,the humanoid robotic arm is challenging in the field of robotics research..The main difficulty is that needs to comprehensively utilize the knowledge of mechanical design,artificial intelligence,machine learning embedded hardware control and so on.This paper is devoted to the design and implementation of lightweight humanoid robot arms.Firstly,the comprehensive simulation experiment platform ArmPlant 0.1 is established.This platform is based on ODE(Open Dynamic Engine)physics engine calculation.Features supported by this platform include: shape design,dimensional design,mass distribution,kinematics and inverse kinematics calculations,moment testing,motion planning and editing,simulation verification,prototype control,and motion characterization,etc.Secondly,we have completed the simulation design of a full-size light humanoid robotic arm with 8 degrees of freedom(including 1 degree of freedom of the end gripper).The main design is as follows: arm shape,size,mass distribution,joint distribution,motion model,moment measurement,joint angle control,position control,human motion reproduction,flexibility evaluation,etc.Thirdly,we have completed the manufacture and integration of the series of arm prototype LWH-Arm 0.1~0.4,including: physical material and electronic component selection,part design and processing,prototype assembly,control and communication program design,etc.In order to overcome the problems of shaft deformation and friction increase caused by excessive load on the low torque steering gear,a radial zero moment extension shaft for the steering gear was designed and applied to LWH-Arm 0.3~0.4,which effectively eliminated the contact.The movement caused by surface friction is blocked.Finally,a series of experimental scenes were designed to comprehensively test the movement flexibility,stability and load force of the humanoid robot arm LWH-Arm.The results are as follows:(1)Through the following experiments: Kinect human motion acquisition,motion reproduction,and synchronous control of the simulated arm and physical prototype,we verified the flexibility of the humanoid robotic arm,and the effectiveness of the simulation experimental platform and motion control algorithm;(2)Through the object grabbing and palletizing experiments,the stability of the humanoid robot arm movement is preliminarily verified.(3)It is proved that the loading force at the end of the prototype can reach about 0.3 kg by the action of catching the bottle,pouring water,lifting the arm,lifting,etc.,and has a certain labor capacity.