Research on the Motion and Dynamics of Biomimetic Manipulator with Seven Degrees of Freedom

摘要

This paper puts forward a design of 7-DOF (seven degrees of freedom) biomimetic manipulator based on human anatomy. Firstly, the structures of human upper limbs are analyzed to distinguish the degrees of freedom based on the motion types of human arms can complete. Then, according to the design requirements of the manipulator, we design the structure of each joint for the manipulator. The kinematics calculation of the manipulator is carried out. Through determination the D-H parameters of the manipulator, the positional relationship between each joint is established to complete the solution of the kinematic equation. The kinematics trajectory of the manipulator is expressed by quintic polynomial interpolation. Simulation analysis is carried out based on MATLAB to verify the theoretical kinematics solution of the manipulator in order to provide kinetic analysis for manipulator. Finally, the dynamic equation of the manipulator is obtained by Lagrange method. The joint simulation method of ADAMS and MATLAB is used to establish a closed-loop relationship between the joint angle, angular velocity and joint torque. A complete virtual prototype is built to complete the dynamic simulation of the manipulator and the simulation torque variation diagrams of each joint are obtained.