Bionic Mechanical Design And Motion Simulation Of Biped Robot

The biped robotics is one of the most advanced branches in robotics which involves the mechanics ,electronics ,computer ,bionics , multi-sensor data fusion,artificial intelligence and so on. The biped locomotion has the most mobility than other locomotion manners. Especially, the biped robot is suitable for doing cooperation with human, and has a wider potential substitute for working in hazard conditions. Therefore, the research on the biped robot has not only the higher academic value, but also has comparatively practical significance. It is an important aim for biped robot in realizing continuous walking stably. From bionics design, research in realizing humanoid walking gait stably is important. The main content of that are the bionics mechanical design and the humanoid locomotion analysis for the biped robot.It had designed two degrees-of-freedom parallel mechanism and one degree-of-freedom planar four-bar mechanism, with the analysis of mechanical structure , drive manner, distribution in degree-of-freedom, and characteristic of function in the domain of biped robot from domestic and overseas and analysis of human' s leg joints and muscle. It constructed the model of the two degrees-of-freedom parallel mechanism and one degree-of-freedom planar four-bar mechanism, set up these expressions and the relation of the input/output static . It set each bar parameter and joint degree variable, profound joint reference frame and set up biped robot kinematical equation by using the Denavit-Hartenberg formula. Considering with the condition of walking gait stably, it presented the equation about the center of gravity and ZMP, analyzed the theory of biped gait stably . In the front locomotion plane, it set up seven-bar mechanical model and profound the Lagrange...