Design Of Lower Limb Mechanism And Experimental Study Of Humanoid Robot

The humanoid robot is always one of hot spots in robot fields. The disquisitive difficulty of humanoid robot is that the biped robot simulates human walking principles to the largest extent. And most existing humanoid robots are based on serial mechanism. In this paper, taking the human body structure as prototype, a novel configuration of humanoid robot is presented from the view of function bionics.The "bridge" serial is introduced in turning movement of hip join and "tendon" parallel mechanism is introduced between hip joint and multi-degree of freedom ankle joint of humanoid robot configuration through researching the lower limb of human body in this paper. By the method of equivalent mechanism replacement joints and the combination, the integral structure of humanoid robot is constructed and the limb serial-parallel (serial and parallel mechanism coexistence) mechanical configuration is obtained.Through analyzing the method of walking posture plan and humanoid robot gait, the kinematical model of leg mechanism is built, simultaneously the forward kinematics is computed, the locomotion mode is also planned, the movement locus curve of center of gravity (CG) is solved and the CG motion locus of humanoid robot is obtained during the movement.The three dimensional model of humanoid robot is established, the simulation experimental is made for humanoid robot. The CG motion locus of and movement gait of humanoid robot are obtained. It shows that the method of gait planning is feasible.The experiment for physical prototype is operated and the stable walking is realized. It shows that the theoretical research is accurate and efficient.The experiment proves that designed novel configuration not only made the limb more personified and the movement more flexible and smooth, but also improved motion stability and maneuvering capability of the robot. It provided the foundation of theory and novel mechanism for design of humanoid robot.