Design And Implementation Of Wheeled Hunmanoid Robot For Family Service

The wheeled robots, which are stable, highly efficient, powerful and easy to control, are more suitable for indoor service tasks on flat floor. With humanoid structure and appearance, a wheeled humanoid robot is more likely to be accepted, and more likely to perform well in home service tasks. This kind of robot is ideally suitable for family service tasks. In conclusion, the research of wheeled humanoid family services robot has very important practical value.This thesis, to study family wheeled humanoid service robot, accomplished the analysis of characteristics of the wheeled humanoid robot, we accomplished the design and manufacture of the prototype of wheeled humanoid robot. The main contents of this thesis are as follows:1. Accomplishment of the mechanical design of the prototype of a wheeled humanoid family services robot. The robot is made up of a mobile chassis and a humanoid body structure. A variety of robot chassis structures were compared and analyzed, and we chose a chassis with three omni-wheels as the mobile platform. The designed robot has 13 degrees of freedom and about 110 mechanical parts. In this paper, the driving torque of each joint actuator of the robot was checked, detail drawings of the robot are accomplished, the strength check of the key components of the robot was accomplished, and finally the optimization of robot and assembly of the parts was accomplished. In addition, a set of plastic casings is manufactured to make the robot easier to be better accepted, and to protect the internal structure of the robot.2. Accomplishment of the hardware system. This thesis analyzed characteristic of each robot joint, we design a robot hardware system with structure of distributed controllers, the controller system is made up of ARM controllers and a Industrial PC. The communication system of the robot is a hybrid of CAN, TCP, and RS232.3. Accomplishment of the design of the controlling system for the robot. We accomplished the kinematics analysis of the robot arms and chassis, then we accomplished the controlling program of the robot arms and chassis. In addition,we proposed a indoor localization algorithm for the robot, and accomplished the theoretical analysis of this algorithm.