Analysis and experimental research on service robot oriented light modular mechanical arm

Light modular mechanical arm is widely used in service robots. This paper combines the SHUNCK 7 DOF mechanical arm in the application of nursing robot, building its kinematics model, analyzing the inverse kinematic problem with the geometry method against specific grasping task, and the dynamic problem with the Newton-Euler method to achieve the smooth movement of the terminal. At last, construct the 3D model of the mechanical arm with OpenGL and conduct the dynamic simulation of the joints in the PC interface. Through a given task on the actual mechanical arm, the feasibility of modeling and analysis method, as well as validity of simulation result are testified. With the theoretical analysis as the basis, the mechanical arm could accomplish the grasping task smoothly and accurately, which lays a foundation for the nursing robot to achieve more advanced tasks autonomously.