| Humanoid robots have special external characters and athletic abilities similar as human.They are normally designed and developed to assist or replace human labor on the premise of unchanging existing artificial environment,adopting upright biped mobile mode similar as human's.Hence humanoid robots are able to be better coexisting with human in reality.Since the concept of robot was firstly mentioned,humanoid robots have been attracting human's most interests and carrying human's ideality of robotic labor.One of the key research point of humanoid robotic,is how to realize a robot very similar as human and able to act in the same mode of real human,based on the existing technology.This point is also an issue for further practical application of humanoid robot.Base on the project titled “Theory and method for humanoid robot in multiple motion modes and transition”,this dissertation focuses on the research of mechanical design for a full-size humanoid robot,in order to deal with unstable state and protect itself in tumble condition.The main research contents and results are listed as follows.Firstly,aiming to the new requirement of more athletic abilities and self-protection in tumble condition,this dissertation raises an improved overall model and mechanical system layout for humanoid robot,determined DOF configuration for overall mechanism,determined the key mechanism design and actuation method for joints.Secondly,based on the overall scheme,this dissertation raises a new method for mechanical design of humanoid upper limb,in order to realize the typical strategy of limb supporting buffer in falling condition.This work includes an overload protecting link based on principle similar as dislocation in integrated actuation for should joint,and a serial elastic link based on principle similar as tendon-muscle co-location in elbow joint actuation.A compact and proper mechanical scheme for upper limb is achieved and its contribution for overall system in falling condition is analyzed.Thirdly,aiming to the characteristic of knee joint actuation and requirement of lower limb's fast locomotion,this dissertation raises a new bionic transmission method with variable ratio.The lower limb's transmission system is designed in the biomimetic principles from knee anatomy structure of human.The new knee joint of humanoid lower limb is designed in the form of bionic actuation with variable transmission ration in relative large range of motion,adaptive to typical modes of squatting and crawling,in order to increase mobility and athletic ability.Fourthly,in order to solve the issue of unstable state due to the relative slipping phenomenon when the rigid foot structure is contacting ground surface in walking,this dissertation raises a design scheme of underactuated mechanism for robotic foot in the biomimetic principle of tendon elasticity in biological foot.A compliant passive mechanism for robotic foot with coexisting ground contact buffering and claw anchoring effect is achieved to improve the reliability and stability of humanoid foot-ground contact.Finally,the mechanical design and transmission method are verified by approaches of model based dynamic simulation and prototype based experiments.The contributions and estimated performances of new raised mechanism in the overall system are evaluated.The research and design on humanoid robot's mechanical system are summarized and the future work of overall system's further realization is prospected. |
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