Abstract
AbstractThe paper deals with the workspace-based optimization of a novel humanoid robotic arm. The eight-degree-of-freedom hybrid manipulator that conforms to the kinematics characteristics of the human arm is briefly introduced. According to the structural features of this mechanism and the requirements of tasks in the complex environment, the workspace is divided into three parts, the orientation space of the humanoid shoulder joint, the position space of the humanoid elbow joint, and the active orientation space of the end-moving platform. Moreover, a multi-parameter planar model is proposed for the optimization problem with multidimensional parameters and highly nonlinear constraints. Based on the visualized optimization result, the coupling effect of each parameter on the corresponding workspace is clearly presented. Considering the compactness and the processing and assembling technology of this mechanism, a set of structural parameters satisfying the workspace-based optimization objective is obtained. Simulation results show that the corresponding workspace of the three parts has increased significantly by the factor of 1.45, 1.68, and 1.3, respectively.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
