Based on the centralization of driving space, the integration of joints and the lightweight structure, a 4-DOF humanoid rigid manipulator which is centralized driven by shoulder is designed in this paper. In this design, the elbow and forearm are driven by two kinds of four-link mechanisms as transmission, which are independent in motion. The kinematics of the manipulator is modeled and analyzed. Based on D-H representation, the relationship between joint space and workspace is established. The workspace of manipulator is calculated and drawn by the discrete space method. The relative flexibility is defined, and the flexibility of the workspace is analyzed according to this index, then we draw it with the visualization method. The flexible workspace under different lengths of arms is drawn, which provides a theoretical reference for the design of manipulator.
Design and Workspace Analysis of Centrally Driven Humanoid Robotic Arm
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 67 ; 677-686
18.03.2022
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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