The Design And Research Of Humanoid Robot

The humanoid robot is a kind of machine which the appearance and structure is designed according to the human beings,a kind of integrated product of mechanical and electrical which assembles computer technology,microelectronics technology,mechanical design technology,and sensing and control technology.It is mainly composed of the main structure,the dynamic part,the sensing part,the driving part,the executive part,the control and information part.In this paper,the design of various parts of humanoid robot was completed,and the gait planning and mechanics analysis were studied.The specific research work of this paper focuses on the following aspects:First,through the research on the size of the human body relevant structure and the characteristics of joint movement,we selected the form of the mechanism,and determined the degree of freedom's configuration,mechanical structure and size of the robot;we designed and analyzed the kinematics model of the humanoid robot,established the kinematics model of the robot in its front and side plane by using the generalized coordinate method,and calculated the forward and inverse kinematics equations.Second,based on the ZMP(zero-moment point)as the stability criterion,we analyzed the constraint conditions that should be met when the robot is walking,and adopted three-point programming method to make design of dynamic gait through using three-order spline interpolation function.We did the simulation with the gait parameters which were introduced into the environment of ADAMS,and the simulation results proved that the method of gait planning which we adopted could realize the humanoid robot's stable dynamic walking.According to the simulation results of virtual prototype,we can get constraint condition of thigh,shin,arm and stress state of U type part of the ankle joint.Based on the modal analysis of the thigh,shin and the arm,and the stress analysis of the U part of the ankle joint,a reasonable improvement scheme of the structure was proposed.Finally,the control system of the robot was designed.In order to enhance the extensibility of the humanoid robot,high-performance Cortex-M4 micro-controller was used in the control system.We finished dynamic part,sensing part,driving system,executive part,control and information part and design of PC software successively.Then the basic function modules were integrated into an integrated humanoid robot.At the same time,through the host computer software,user can easily compile the action programming of the robot.