关键词: 仿人机械臂, 工作空间, 构型, 人臂, 人体工程学

Abstract: A new screening method is proposed in configuring humanoid robotic arm, and a series configuration which is most consistent with the human arm characteristics is constructed The morement mechamsm of human arm from the point of view of human anatomy is analyzed, and 6 types of humanoid robotic arm combined with the mechanism of anthropometry and robotics are constructed. The global relative manipulability index is put forward, and the dexterity of different types of humanoid robotic arm with this index are analyzed. The visualization method is used to plot the image of dexterous performance distribution. The workspaces of human arm are analyzed, and different types of humanoid robotic arm’s workspace with it are contrasted, thereby screening the best type of humanoid robotic arm. The results lay the foundation for humanoid robotic arm design and follow-up study of motion planning.

Key words: Configuration, Human arm, Human engineering, Humanoid robotic arm, Workspaces