Modeling and simulation of two ambidextrous anthropomorphic manipulators to perform cooperative tasks

Abstract

This paper is focusing on the development of a robotic arm using 3D modeling and simulation. The software used is Blender, which is a 3D modeling and simulation software that also supports programming language python as the scripting language. Blender was chosen over Maya because it is a free software suitable for students to develop their projects, and share the same features, more accessible, and the design is more realistic. The robotic arm was designed after studying the human arm and hand. The kinematics of the robotic arm were derived. The simulation shows the movement of rigged objects, e.g., an arm controlling a gun, and bullets projecting from the gun, and it was done using key frame animation and game engine simulation. Modeling and simulation of two robotic arms and hands, shooting with an AK-47 rifle at a bullseye, were done and completed using python in Blender. This work is intended to be integrated into a First-Person Shooter FPS game, which can be used to train biathlon sportsmen and army soldiers for precise shooting. Forward and inverse kinematics are implemented for the rig to move without breaking and deforming, then the bones and mesh together are combined as one unit, then the joined mesh is put to a desired position of a shooting position, then a rifle is added, then the bullets are simulated falling on ground when the bullets hits the target. Then finally the whole file is exported.