Design and Simulation of a Novel Humanoid Robotic Arm

Abstract

This paper introduces a novel robotic arm that achieves remote driving of each joint through a specialized transmission design, enabling motors and other drive components to be mounted on the base. This reduces the ineffective load on the robotic arm and improves its motion performance. The arm comprises a base, shoulder joint, elbow joint, wrist joint, and hand. The shoulder and wrist joints utilize 3-degree-of-freedom (3-DOF) 3 Revolute-Revolute-Revolute (3-RRR) spherical parallel mechanisms, connected by a 1-DOF elbow joint, resulting in a total of 7 degrees of freedom. This paper discusses forward and inverse kinematic analysis, and simulation validation of the robotic arm, ultimately demonstrating its human-like motion capabilities and performance.