Kinematic, Workspace and Static Analysis of a Upper Body Humanoid Robot
Shifa Sulaiman1, A P Sudheer2

1Shifa Sulaiman, Research Scholar, National Institutes of Technology, Calicut, Kerala, India.

2Dr. A P Sudheer, Assistant Professor, National Institutes of Technology, Calicut, Kerala, India.

Manuscript received on 10 April 2019 | Revised Manuscript received on 17 April 2019 | Manuscript Published on 26 July 2019 | PP: 917-920 | Volume-8 Issue-6S4 April 2019 | Retrieval Number: F11870486S419/19©BEIESP | DOI: 10.35940/ijitee.F1187.0486S419

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Abstract: Humanoid robots are used fortraining 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, workspace 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 workspace. 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 Dofs in the torso, 2 Dofs in the neck and 5 Dofs in each arm. The two arms are designed with identical joints.

Keywords: Humanoid Robot, Kinematic Analysis, Workspace, Static Analysis.
Scope of the Article: Measurement & Performance Analysis