Mechanical Design And Walking Simulation Of Humanoid Robot

Humanoid robot stands for the highest research result in the robot field. As a high degree cross discipline it contains mechanics, electronic, computer science, automatic control engineering, artificial intelligence, bionics and other technologies and is one of the hottest research field. And the humanoid robot has many joins and complicated structure. It needs higher control accuracy. So the key of robot simulating successfully depend on whether we reasonably design the robot mechanical and plan the robot gait. This paper put the humanoid robot as an investigative target, and the main work which I did in the paper is list as following:Firstly, the paper reviews and introduces history and developing situation of humanoid robot and other the latest research advance, then introduces the main research question in this paper.Secondly, according to the proportion of humanoid lower limb, the paper makes the entire design scheme on robot and designs the new linear actuators basis on the humanoid drive mode, then designs the ankle joins, the knee joins and the hip joins. With the purpose of small inertia and more aesthetic, the paper achieves that by reasonably layout actuators.Thirdly, the paper builds the mathematical model of robot according to the designed mechanical. It adopts the method which separates the motion of forward and lateral. And first it analyses using the method of static gait, then simplified model, scatters the ZMP equation by time, so calculates the robot COM trajectory. Finally it builds the discrete offline dynamic planning.Fourthly, it builds the virtual prototype model of humanoid robot using the software of ADAMS, then finish the control system of humanoid robot using the Simulink toolbox of MATLAB. Thought the interface module ADAMS/Controls, it realizes the joint simulation and verifies the correctness of mechanical design and gait planning and obtains variety parameters.Finally, according to the parameter It checks the key shaft, connecting rod and bearing of humanoid robot.