A Bionic Arm Mechanism Design and Kinematic Analysis of the Humanoid Traffic Police

This paper describes the design and analysis of a bionic inspired cost-efficient 3D-printed humanoid robotic arm. Our goal is to demonstrate various traffic command gestures with this robotic arm as an alternative to human traffic policemen. Based on the motion feature analysis of traffic policeman gestures, the robotic arm is characterized by a 4DOF kinematic configuration with humanoid compact elbow and shoulder mechanical structures. Emphasis of the structure design is utilizing servo-driving lead-screw module and worm-gear module for full-size robotic arm joint actuation. Furthermore, the kinematical analysis of the designed arm is conducted, and the design is verified by a real 3D-printed arm controlled by an embedded system. The proposed cost-effective design can free traffic policemen from harsh and dangerous working conditions and be an important part of the intelligent local traffic management system.