Finite Element Analysis On The Humanoid-Robot

Characterizing and analyzing the dynamic properties of the humanoid-robot is one of the key problems in the research field of robot. But at present, the existing mo- deling methods of the humanoid-robot dynamics are based on the theory of traditional multi-rigid-body dynamics, and usually simplifying the system as framework with multi-rigidity poles and simplex joints. For this reason, the walking dynamic perform- ance of the humanoid-robot is pictured only approximately by these methods.With the advancing demands of the walking capability for the humanoid-robot, its viscoelastic and complex nonlinear structure properties must be considered to pre- sent more perfectly and precisely the walking dynamic performance.In order to solve over dynamics modeling and analyzing problems of the human- oid-robot with the viscoelastic and nonlinear structure properties, this dissertation stu- dys to build the dynamic model and analyze its walking property of the THBIP-â…  humanoid-robot, who has been developed by Tsinghua University, by the three- dimension finite element analysis (FEA) method in the ANSYS platform.Firstly, this paper presents a precise viscoelastic dynamics FEA model of the THBIP-I. And being based on the FEA model, the distribution of strain and stress on the system are computed to analyze its structure intensity and rigidity properties. The research of the structure-statics gives out some rules to direct the design optimization of the THBIP-I.Secondly, using the theory of modal analysis and the ANSYS modal analysis software, the modes and the vibratility of the THBIP-â… , such as the inherent frequen- cies and the vibration modalities, are studied during its single-double support switch time, and more, combining with the experimental phenomenon, the developing trends of the real vibration properties of the THBIP-â… are also discussed.Lastly, being base on the FEA model of THBIP-â… , and considering the effect of the structure-flexibility and joints-elasticity, the paper investigates the gait-designoptimization and walking stability. In addition, by adding damp medium, or changing the velocity and the foot gesture of raising and falling legs, the impact vibratility of the THBIP-â…  during its single-double support switch time is also worked over with the FEA method in the ANSYS.