Kinematics Analysis and Experiments of an Artificial Robot Upper Limb

Abstract:

Owing to great demands for artificial robot upper limbs in industrial production lines, dangerous rescue and even the assistance for disabled people, the research and design is carried out about a robot upper limb which is composed of 6 DOFs. In order to illustrate the robot upper limb system comprehensively, the forward kinematics analysis is finished according to the mechanism. At the same time, the workspace of the designed robot upper limb is analyzed and simulated, and the Monte-carlo simulation results show that the workspace is a continuous closed space, which means that the hand of the designed limb can reach anywhere in the workspace. Moreover, the pingpong grasp experiments are conducted, from the experiment results we can see that the robot upper limb can track and grasp objects around it quickly and accurately.

• Periodical: Advanced Materials Research (Volumes 479-481)
• Pages: 2361-2364
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.479-481.2361
• Online since: February 2012
• Authors: Chuan Jiang Wang, Bing Hui Fan, Hao Jiang, Zhi Xian Zhang
• Keywords: Artificial Upper Limb, Forward Kinematics, Robot, Workspace Analysis

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