【摘要】 针对现有人形机器人手臂结构复杂、装配效率低的问题，设计了一种七自由度电驱动仿人机械臂。这一仿人机械臂采用模块化设计，由七个关节模组串联构成，具有较高的灵活性和容错性。推导七自由度电驱动仿人机械臂正运动学模型，应用MATLAB软件进行仿真分析，并利用蒙特卡洛法模拟实际工作空间。试验结果表明，所设计的七自由度电驱动仿人机械臂达到性能要求。更多还原

【Abstract】 An electric driven 7-DOF humanoid robotic arm had been designed to address the complex arm structure and low assembly efficiency problems of existing humanoid robot.This humanoid robotic arm adopts a modular design, consisting of seven joint modules connected in series, with high flexibility and fault tolerance.The forward kinematics model of the electric driven 7-DOF humanoid robotic arm was derived, the simulation analysis was conducted by using MATLAB software, and the actual workspace was simulated by using Monte Carlo method.The experimental result indicates that the designed electric driven 7-DOF humanoid robotic arm meets the performance requirement.更多还原