Analysis of handclap motion of humanoid robot upper limbs and virtual prototype simulation

Abstract

Collision safety has been one of the most important issues for humanoid robots study. In this paper, humanoid robot upper limbs were established with 5 degrees of freedom. Based on Jacobin matrix and Lagrange function, the kinematics and dynamics models were established respectively. The collision dynamic model was established by using the nonlinear equivalent spring damping model. During the process of clapping, the laws of each joint movement range, velocity, and torque are given then, and phase relationship of peak value of velocity and torque successively are given too. Various different stiffness experiments are carried out during simulations. Experimental curves show that the angular velocity curves is approximate to the sine curve shape. During collision, the maximal impact influence is on elbow joints. After buffering, wrist joint is influenced higher than elbow joint. Results confirm the simulation platform is efficient and a small calculation step should be adopted. © 2012 Springer-Verlag GmbH.