Design And Research Of A Biped Walking Robot Based On Virtual Prototype Technology

Robotics is the Presentation of the best achievement of Mechantronics, and is one of the greatest fruits of humankind in the 20^th century. Though the biped walking robot has only 40 years history, it became one of the most important branches of robotics for its unique fitness and anthropomorphism.Biped walking robot has much better adaptation to environment in human living-space than wheel type, crawl type and pedrail type mobile robot. This advantage is much more obvious under unconstructured environment. In this dissertation, a biped walking robot platform is proposed. The structure of the biped is designed and the degrees of freedom are configured properly. Through 3D-modeling software, the model of the biped is well constructed.The biped walking robot is designed according the human body proportion, mainly including the design of hip joint, knee joint, ankle joint and foot. In order to make the robot to simulate human's action; I defined the robot's joint range according to a person's joints' range.In the D-H coordinate, direct kinematic model and inverse kinematic model are built based on homogeneous coordinate conversion, and this provides the foundation for gait plan. By lagrange dynamic equations, the dynamic model of the simplified biped gain plan. By lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double-foot support, and this model is easy to control. According to the character of robot, the gait planning is made using inverted pendulum module, and the stability of the gait is evaluated through ZMP principle.The virtual prototype of biped robot is built through dynamic simulation software ADAMS and the control system is build with Simulink toolbox in software Matlab. Through interface module ADAMS/Controls, we realized coordinated simulation. Through this, I evaluated the validity of gait planning and control algorithm and got the joint torque, which offers important foundation for the choice of driving devices and so on, and provides theory proofs for making physical prototype of the biped walking robot.