轻型仿人机械手臂的研制具有挑战性，因缺少系统专门的平台支持，研制过程通常缓慢，建立了一个轻型仿人机械手臂集成研发平台ArmPlant，该平台基于ODE物理引擎计算，采用Visual C++、Matlab混合编程开发，集外形尺寸设计、质量分布、关节扭矩评测、运动学及逆运动学计算、动作规划与仿真、人体动作采集和再现、运动控制、样机硬件驱动、运动特性评测等功能于一体，可用于仿人机械手臂的快速研制过程。实践过程中，基于该平台设计并实现一款8-DoF仿人机械手臂，并选取物体连续抓取、人体动作跟踪再现这两个场景，对ArmPlant整体功能及机械手臂运动特性进行评测。仿真实验及样机实验均表明：ArmPlant功能较完备、计算及控制准确、交互性强，能有效支持轻型仿人机械手臂的研发全过程，显著提高研发效率。

It is a challenging work to develop lightweight humanoid robot arms, and the design process is usually slow due to the lack of specialized and systematic software. An IDE for the R&D of lightweight humanoid robot arm is proposed called ArmPlant which is ODE-based and mix-programed by using Visual C++ and Matlab. ArmPlant integrates such functions as shape and dimension design, mass distribution, joint torque evaluation, kinematics and inverse kinematics calculation, motion planning and simulation, human motion capture and reproduction, motion control, hardware driver, motion evaluation, etc. Thus it can be used for rapid development of humanoid robot arms. In practice, an 8-DoF humanoid robot arm is designed and implemented based on the platform. Two experiment scenarios, i.e., continuous grabbing and human motion tracking are selected to evaluate the overall function of ArmPlant and the motion characteristics of the robot arm. The experiment results in both simulation and prototype show that ArmPlant is fully-functional, accurate in computation and control, interactive, it supporting the whole development process of the lightweight humanoid robot arm and effectively improving the efficiency of the R&D process.