| Walking robot technology has become a popular national research projectnowadays. In order to achieve the stability of the walking robot,we need to know theenvironment in which the walking robot works and how to trainit to improve the abilityto adapt to the environment. In this thesis, to achieve the stability of walking, the studyof a six-degree mechanical platform is needed. Ordinary six-degree platform of pureparallel style, pure serialstyle as well as parallel-serialstyle cannotcombine theadvantages in terms of carrying capacity, work space, Kinematics and othercharacteristics. Therefore, this thesis proposes a new kind of six-degreeserial-parallelmechanicalplatform applying for walking stability training of humanoid robot.Introducethe overall program and detailed structure of a new six-degreeserial-parallelplatform. Compare among various structure programs to select the down parallelup serial structure and discuss the structure principle.Proposea reasonable drive programas well as the working principleto meet the system function.Rationally designconnection joints, kinematic pairs, materials, motor selection, auxiliary support structure,aiming at achieving the purpose of system integration.Analyze kinematics, dynamics of the serial-parallelplatform. Including: the systeminverse kinematics, differential inverse kinematics,the system forward kinematics,differential forward kinematics, dynamics and they are all analyzed by analyticalsolutions.Analyze the error of this serial-parallel platform. Establish the relationshipmodelbetween the output position error and the system structure error. Due to each structureerror, make an analysis of the influence degree on the output position error.System simulationfor this serial-parallel platform. Use ADAMSto do dynamicssimulation to choose suitable motions and linear units, and make sure that themovement design specifications meet.Under single degree movement of this platform,finish the stability training simulation of the biped robot. |
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