Research On Walking Mechanism Virtual Prototype Of Humanoid Robot

The humanoid robot is one of the most active domains in robotics. The biped locomotion has the most mobility than other locomotion manners. Especially, the biped robot is suitable for cooperating with human, and it has a wider potential substitute for working in hazard conditions. Many research institutions at home and abroad have been carrying out active research on such robots and have made great progress, greatly promoting the development of humanoid robots. However, it is still a problem for the humanoid robot to walk stably and quickly and to carry out innovative design of the mechanism.In this paper, we established the virtual prototype of humanoid robot, carried out the kinematics analysis and dynamics analysis of the robot, carried out the simulation of the robot moving in virtual environments, built the robot physical prototype and conducted the robot walking on flat ground experiment. The main work in this paper is list as following:Firstly, this paper presents the research status of humanoid robot at home and abroad and the DOF distribution of the world famous humanoid robots. It points out the existing problems in the humanoid robot research area and forecasts the future developing direction of the humanoid robot. According to the structure of human’s legs, the humanoid robot walking mechanism was designed. I calculated the driving torque of the joints and selected the joint actuators, including the motors, harmonic gear reducers and pulley-belt.Secondly, the topology optimization mathematical model of the robot connecting rod which was based on SIMP material difference method was established. The minimum strain energy of the linkage when in force was taken as objective and structural volume and balance equation were taken as constrains. The connecting rods of the robot were optimized in ANSYS optimization module. Weight of the connecting rods subjected to rigidity and strength constrains have been minimized.Thirdly, this paper introduces the position and attitude description of rigid body and homogeneous transformation method. I established the forward and inverse kinematics model the walking mechanism. The forward and inverse kinematics equations were derived with D-H method and vector method. I did the dynamic analysis of the walking mechanism and calculated the driving torque of the ankle joint, knee joint and hip joint when the robot leg was in the supporting state and swinging state.Finally, with the mechanical model of the humanoid robot established in ADAMS and the control model established in MATLAB, we carried out the co-simulation. The simulation results verified the validity of the proposed scheme. The joint torque curves offered an important foundation for the choice of motors, reducers and so on. We established the robot experiment platform and conducted the robot walking on flat ground experiment. The experimental test results validated the mechanical design and control algorithm.