Design And Research On The Integrated Structure And Control System Of A Humanoid Robot Arm

With the improvement of people’s daily needs and the rapid development of various robot related technologies,research on humanoid robots is gradually increasing.As an important component of humanoid robots,designing and researching humanoid robotic arms has significant practical significance.Based on the analysis of the human arm and the advantages of the advanced humanoid robot arm at home and abroad,this paper designs an integrated structure of the humanoid robot arm based on anatomy,robotics,control system simulation technology and mechatronics technology,and controls it based on FOC control algorithm.By referring to the structure and motion status of the human arm,a design scheme for the integrated structure of the humanoid robotic arm was determined,and the transmission and driving modes were selected.A 3D model was designed using Solidworks software.The kinematics of humanoid manipulator and dexterous manipulator are analyzed,and the forward and inverse kinematics solutions of the two are solved by D-H parameter method.The correctness of the forward and inverse kinematics solutions is verified by Matlab software,and the workspace and trajectory planning of the two are simulated.In terms of control system,based on the FOC control algorithm,a control system with an integrated structure of a humanoid robotic arm was designed and simulated using Matlab software to prove the ability and steadiness of the control system.Suitable parameters were obtained using trial and error methods to make the actual motion curve fit the target motion curve.Utilize 3D printing technology to build a prototype of an integrated structure of a humanoid robotic arm,and build its hardware control system.Utilize Visual Studio software to develop an upper computer,making the debugging of control programs and motion control more convenient and efficient.Conduct motion experiments on the constructed prototype,and the experiments prove that the integrated prototype of the humanoid robotic arm designed in this paper can achieve basic functional requirements.