Advanced Structural Design for Humanoid Robot Upper Limbs

In this paper, the humanoid robot is taken as the object to study the influence of the design parameters of the dual-arm base on the workspace in the logistics handling scene. First, the humanoid robot and the handling target object are modeled, the influence of the dual-arm configuration and the base constraint conditions on the dual-arm workspace is quantitatively analyzed, the mathematical relationship between the variables is established, and the parameters of the dual-arm base are optimized to achieve the best workspace. Finally, the optimization effect is verified by experiments. The results show that the method can effectively improve the cooperative workspace of the two arms and provide ideas for the design of the base.