Research On The Dynamics Of Erect Biped Robot

In this paper, modeling and design methods of erect biped robot has been discussed and generalized based on mass investigation and research of it in internal and overseas research existing circumstances. After existing problem in the research had been considered, a new design of leg mechanism has been put forward. In this design, a new toe link has been added in to reduce the vibration and increase the ability in quick response of the system. And then, kinematics, dynamic behavior and disposal of the system redundant degree of freedom have been lucubrated.Textual main job is as follows. Through kinematics analysis of the leg mechanism, the design method of robot has been found out. The computation of positive and inverse kinematics has been progressed at the same time. Under the condition that damp and rigidity have been taken no account of, dynamic mode of the leg system has been established, ambulation mode has been designed and the motoring torque of each joint has been solved. And then, redundant degree of freedom in system has been analyzed and disposed, thereby optimize conditions of optimal ambulation curves have been obtained and the data in upper bench motion process has been optimized and ambulation curves have been confirmed. Using computed outcome of dynamic equations, electrical control system of the robot has been designed and developed, and the motion control project of the robot system has been established and the robot ambulation motion has been designed based on the designed curves, and motion program of the system has been written, and then the program has been tested and debugged. In addition, vibration under stress of the leg mechanism has been discussed, ambulation dynamic equations contained damp and rigidity have been established, and motion vibration curves have been solved. And then, analysis of the curves has been progressed, thereby the methods of vibration remission has been put forward.Based on the lucubration and practical design of erect biped robot system, kinematics and dynamic model, designed ambulation curves of leveling and upper bench motion, motion control project and vibration model of leg system have been obtained. The valuable theory reference for the design of this kind of robot has been offered.