Artificial Intelligence International Conference

摘要

A novel design of low cost 3D printed five degree of freedom ambidextrous robotic arm is presented in this letter. Due to its ambidextrous nature, it offers much greater range of movement than human arm as shown in table 2. One of the key challenges in robotic industry is to make robot learn from the observation of human behaviours. However, due to difference in human and robot mechanisms such as range of movements and mechanical structure, a robot may not imitate human’s movement precisely. For a robot arm, task is often not completed as efficiently as human counterpart does due to discrepancy in range of movements and flexibility of joints. The aim of this research is to develop a robot arm that offers greater range of motion and perform tasks faster than human. Structure of an ambidextrous arm is designed in Solidworks software and cost estimations are assessed systematically using SimMechanics. In joints, range of motion is defined by the level of flexibility. Greater the flexibility of joints, higher the range of movements. By using absolute range of motion values in each individual joint, human arm is compared with an ambidextrous arm. Solution based on forward kinematic and inverse kinematic approach is presented and results are verified using derived equation in Matlab.