System Design and Experiment of Bionics Robotic Arm with Humanoid Characteristics

Abstract

Aiming at the problem of lack of humanoid characteristics of the current bionic robotic arm, a bionic robotic arm with anthropomorphic characteristics is designed. Based on ergonomic principles and kinematics analysis, the system design of R <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Y</sub> R <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">P</sub> R <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">R</sub> -R <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">P</sub> -R <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">R</sub> R <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">P</sub> structure was determined. The motion control of the 23 DOF (degree of freedom) of the entire arm is realized with 10 steering gears. Through the three-dimensional modeling, the structure of the arm's mechanism components is made and the virtual simulation of the system is carried out. It was found that the motion space of the arm covered the commonly used work space of the human arm. The components are printed by 3D printing technology and are assembled, which the hardware and software of the control system are carried out. Operator's arm color, depth image and bones are got by Kinect and the space vector method is used to calculate the joint angle data when the human arm moves. By setting communication with micro-controller, Arduino, by serial port, remote synchronization control of humanoid manipulator with gestural body language is achieved. The humanoid experiment of bionic robotic arm and human arm was carried out to finish the humanoid motion control of arm joint and the grasping, holding and handling of the object, which verified the rationality and feasibility of the system design. The bionic robotic arm has the characteristics of smart structure, convenient control, flexible movement, good human nature and low cost, and has important reference value for carrying out research on human bionics, medical prostheses and special environment teleoperation arms.