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Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Published online by Cambridge University Press:  02 March 2022

Peng Sun Open the ORCID record for Peng Sun [Opens in a new window] ,
YanBiao Li Open the ORCID record for YanBiao Li [Opens in a new window] ,
Kun Shuai ,
Yi Yue  and
BaoChen Wei Open the ORCID record for BaoChen Wei [Opens in a new window]
Peng Sun
Affiliation:
College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
YanBiao Li*
Affiliation:
College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
Kun Shuai
Affiliation:
College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
Yi Yue
Affiliation:
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
BaoChen Wei
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
*
*Corresponding author. E-mail: lybrory@zjut.edu.cn
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Abstract

The 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.

Keywords

hybrid mechanismworkspace analysisdesign optimizationhumanoid robotic arm
Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3088 - 3103
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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