The Research On The Influnce Of Foot Structure On The Performance Of Robot

The thesis based on the theory of bionics, analyzed deeply the kinematics and dynamics characteristics of bipedal gait and explored the relationship between bipedal robot walking performance and the structure of robot foot through the human gait experiments and building the virtual prototype models.In this thesis, two kinds of human gait experiments of foot deformation condition were designed. One is the body’s natural walking gait experiment, another is that feet deformation were restricted. By calculated and processed the data of the gait experiments of the two foot deformation condition, the influence of foot structure to walking performance of robot was analyzed and researched from the point of view of bionics and kinematics. Secondly, on the basis of the object’s height and weight of the gait experiment, the robot geometric models of two kinds of feet structure were built and the quality of the model, the moment of inertia properties and the constraints were defined. Then the driver that the angular displacements of the human upper limb and lower limb in sagittal plane were tested in the experiment were imposed on the robots joints of lower and upper limbs to get robot models of two kinds of feet structure which satisfy dynamic simulation analysis. Finally the reasonable simulation parameters were set in the ADMAS and robot models of two kinds of feet structure were successfully simulated. The curves of forces and torques of lower limb joints of the robots were got. Then through the analysis and contrast of the forces and torques of the two kinds of robot, the feasibility and accuracy of the research method were verified.When the robot’s feet are designed as a rigid body, Gait experiment results and dynamic simulation analysis shows that, the angular velocity fluctuation, joint force and torque and feet shock becomes larger while the walking speed becomes slow and dynamic characteristics significantly worse.