Kinematic, workspace and static analysis of a upper body humanoid robot

Abstract

Humanoid robot sare used for training purposes, personal assistance, understanding the human body structure and behavior, health care field, entertainment field, military purposes, space explorations, etc. Kinematic analysis plays a crucial role in the development of a humanoid robot. This paper presents the kinematic, work space and static analysis of a Humanoid upper body robot. The forward kinematic model is obtained by using Screw theory. Screw theory provides the complete description of the system than the Denavit- Hartenberg (DH) method. Screw theory decreases the chances of occurrences of singularities inside the work space. The joint angles in the upper body are obtained by using cubic spline trajectory method. The proposed torso and arm design can imitate the human body postures. The humanoid robot is designed with 3 Dofsin the torso, 2 Dofsin the neck and 5 Dofs in each arm. The two arms are designed with identical joints.