Modelling and fabrication of ACHM-Arduino Controlled Humanoid Manipulator

摘要

Abstract The development of a humanoid manipulator using embedded software focuses on creating a robotic system that mimics human-like movements and interactions through the integration of hardware and software. The robot features a lightweight frame driven by servomotors at the joints. An Arduino microcontroller coordinates the movements of these servos to execute a simple walking gait. The control system is based on pre-programmed step sequences that ensure smooth motion and balance. The fabrication process involves constructing the mechanical structure, wiring the servos, and programming the Arduino. The manipulator demonstrates basic walking functionality, providing a foundation for future advancements in humanoid robotics and gait control. Primarily focusses on the design and modelling using SolidWorks and later the fabrication process involves assembling the robot’s physical components, including the frame and servos, followed by wiring the servos to the Arduino and loading the necessary code onto the microcontroller. The Arduino is programmed with Software that control the timing and sequence of servo movements, enabling the robot to take steps forward, mimic a walking pattern, and maintain basic stability and also includes an ultrasonic sensor which senses the frequencies and greets the way one needed based on different voice commands given, record. The position of the end effector was studied using the forward kinematics and the torque applied has been calculated.