The Mechanic Design Of The Humanoid Robot

A robot like human being is an imagination for the common people and it is depicted vividly in science fiction. The robot researchers are also earnestly longing for designing a robot that can imitate the action of human being. Some scientists began to do some researches on humanoid robot based on the achievements of biped walking robot at the beginning of 90s.The researchers in domestic and overseas had few researches on the humanoid robot mechanism, they had deep research on the control and gait planning. The mechanism of the humanoid robot in existence is serial mechanism, and all of them had no waist. In general, firstly, the carrying capacity is lower in the serial linked structure, what's more, the humanoid robot had no waist, which made the control difficult; secondly, because robot has no waist , in order to eliminate this, the upbody is linked with the other part. All these limit the movement. So the serial-parallel linked structure is brought forward, and we add a waist to the humanoid robot.In this dissertation, based on the research on the feature of the human body, we researched proportion of the humanoid robot mechanical structure; and designed joints of the robot, and disposited the humanoid robot DOFs appropriately. We researched the humanoid robot as a whole, and using the physical model of the solution space theory we taked the humanoid robot as a plannar 4-DOFs serial robot and plotted the atlases. Based on the conclusions on the spherical 3-DOFs parallel robot, we selected the parameter of this structure. At last, we simpled the walking model of the humanoid robot, and researched it's positive kinematic.