Design Of Joint Drive And Coordinat Motion Plan For Biped Robot

The history of research in biped robot has more than 40 years. At present, it has become one of the main research area of the robotics. According to the domestic and international research in biped robot at last few years, based on the permitted-dynamic state for further improving the biped robot speed, this text optimized the several aspects of robot, such as the structure, the global coordinate motion, the consumption of energy and the exterior environment etc. And this text has researched the dynamic state in the influence of robot speed.Firstly, according to the character of biped robot structure, the text defined the coordinate for staff of the four limbs and body, and used the D-H method coordinate transformation of pre-model to calculated the center of gravity of the four limbs and body. At the same time, we built and analysed the dynamics model of the chain, and adopted the analysis method of chain and parallel dynamics model for the stage of single leg prop and the legs prop in the quickly motion. At the aspect of joint structure, the text provided the rotate limit of partial joint for adapting to the great request of big shock in the quickly motion, and enhanced the global stability and the ratio of load-power. And then the text designed and adopted the improvement of "tendon " joint as the driver to make the design of joint structure become more humanoid.Secondly, based on the pendulum theories, we made the motion offset of arms swing and up-body turn round as to offset the "self-twist" phenomenon that produced by legs swing, which makes global motion become more coordination,and ascertains the boundary condition of the center of gravity motion to enhance the stability and the anti- interference ability of robot in quickly motion. This text has bring forward the concept of "leg triangle" and "arm triangle", and made a reasonable and valid simplification of the multi-body of robot systems, which made the motion-control and simulation-analysis easily. At the other aspect that affect the robot speed, such as the road condition and the problem of impact energy-consumption, we did a further synthetical analysis.Lastly, at the foundation of the reasonable and effect simplify for the robot dynamics model and the simulation of the quickly motion of robot on the flat ground by a 3D dynamics sim-software, the text had analysed the data-results of actuate joint after the global coordination motion,tested and verified the feasibility and the shortage...