Scale Optimization of Humanoid Robotic Arms Based on Kinematic Performance Analysis.

Aiming at the problems that the coupling effect of multi-joint series mechanisms on the kinematic performance of the end-effector, the kinematic characteristics of series-parallel hybrid mechanisms were analyzed, and a multi-parameter plane model was proposed to realize visualized design. Based on screw theory, the kinematics transfer matrices of serial and parallel joints were established respectively, and the corresponding performance indexes were set up. According to the multiparameter plane model, the coupling relationship among parameter scale, orientation workspace, and performance indexes were further revealed through a three-dimensional visualization graphics. Finally, the values of parameters, the range of high-quality orientation workspace, and the distribution of indexes were confirmed. The results show that the global performance indexes of the shoulder and wrist joints are as 0.78 and 0.67, respectively, and the global condition number of the elbow joint is as 2.38. The hybrid configuration has functions similar to that of the human arm joints, and gives full play to the comprehensive advantages of series and parallel mechanisms. [ABSTRACT FROM AUTHOR]