Design And Study Of Minitype Humanoid Robot On Virtual Prototype Technology

Robots, especially minitype humanoid robots, contain advanced mecha-nism technology, material science, computer technology, sensors technology and cybernetics, etc. Entertainmental robots or robot toys aim at the enjoyment and pleasure that they bring to people. In this paper, we try to find a joint of humanoid robots and robot toys by the development of a humanoid robot toy with simple structure and low cost, which can walk slowly.In part I of this thesis, firstly we briefly introduce the concept and history of minitype humanoid robots, especially entertainmental robots. Then the signific-ance and goal of our work are pointed out, and our research points are listed . In partⅡ, we present the general principles and targets of our design, put forward the overall architecture of the minitype humanoid robot toy and discuss the needed degrees and the displacement of freedom as well as the configuration of drive system.In partⅢ, according to the basic principles of structure character, the paper sets up dynamics model of humanoid robot, as a guiding theory of virtual protot-ype research, proposes essential parameter of setting up virtual prototype model, including kinematics parameter, mass property parameter, mechanics character-istic parameter and external parameter, etc; by utilizing Pro/E set up threedimen-sional prototype model, carries on kinematics model prove among ADAMS at the same time, finishes dynamics simulation about virtual prototype walking on line and turning utilizing ADAMS finally. ADAMS solves the model by adopting Lagrange dynamics equation and complementing with rigidity integ-ral algorithm and sparse matrix technology. So in the course of carrying on simulation we can carry on simulation course observing, model altering and result treating. and gets the walking speed of humanoid robot at the same time. Joint angular motion curves can offer the basis of real movement, and Joint torque curve can offer the basis on which structure is designed.According to virtual prototype simulation course, we can get constraint con-dition and receiving strength state of thigh, calf , arm and U fork, consequently carry on modal analysis of thigh and calf as well as arm .Then carry in effect the...