Design Of Humanoid Lower Limbs Mechanism Based On A New Type Of Joint And Its Measurement And Control Technology Research

Humanoid robot technology is an important branch in the field of robot,and it is one of the research hotspots of experts and scholars at home and abroad.The lower limbs mechanism is one of the key components to help humanoid robot realize biped walking,and it plays a decisive role in the robot walking quality.In this paper,a new type of rotary joint drive device applied to robot is put forward.The motion performance analysis and mechanism size optimization of the rotary joint is completed.And the electrical measurement and control test platform of the rotary joint is set up.Using the rotary joint as driving component,a new humanoid lower limbs mechanism is built to achieve biped walking.And the judgmental problem of stable equilibrium about humanoid robot is to verify and analyze by the dynamic detection experiment of the human body foot pressure.The specific research work and achievements are as follows:Based on the analysis about the development status of humanoid lower limbs mechanism at home and abroad,and according to the principle of functional bionic and morphological bionic,a new type of rotary joint drive device is designed to adopt the drive mode of the DC motor with the ball screw.The movement form of the rotary joint is close to the human knee joint?s.Through the theory analysis to joints motion,the output torque characteristic curve of the joint is obtained to verify the selection rationality of the joints parts sizes.The experimental prototype of the rotary joint is made after the size optimization of the joint mechanism.Based on the new method of the joint angle detection,the electrical measurement and control test platform of the rotary joint is set up.With the new rotary joint as the driving element and the limb component,the humanoid lower limbs mechanism with 9-DOF is designed.And based on the rotary joint,the key components are designed.The virtual prototype of the humanoid lower limbs mechanism is built by SolidWorks.Then,Using the centralized control mode,the realization scheme of the whole electrical control system of the humanoid lower limbs mechanism is given.According to the D-H law,the forward / inverse kinematics solutions of thehumanoid lower limbs mechanism are completed.With the three-point planning method and the spline interpolation method,the motion planning curves of the forward joints of the left / right leg are obtained by Matlab.Based on the stability theory of ZMP,the gait stability of the humanoid lower limbs mechanism is analyzed.And a kind of foot pressure detection system is designed and implemented.By the dynamic test and the result analysis of the human body foot pressure,the stable walking basic criterion of the humanoid robot is verified,which provides the basis of testing and the decision-making reference for the stability control of humanoid robot.