Leg Structure And Driving Device Design Of Lightweight Humanoid Robot

The humanoid biped robot can adapt to all kinds of complex environments and has more advantages than wheeled crawler and multilegged robots.It has a good prospect of application and is a hot research topic in recent years.Among them,the flying air and land biped robot is a hot research direction in the world today.It has the characteristics of light weight,good flexibility,high flexibility and so on,which can realize the coordinated operation of land and air.Based on the humanoid walking function and lightweight requirement of the ground and air biped robot,this paper studies the lightweight biped robot on the basis of human body structure,and designs a lightweight biped robot leg structure and driving device.Finally,it can be applied to the flying humanoid robot.The main research work is:(1)The motion mechanism of human leg is studied,the bone structure and joint principle are analyzed,and the leg structure and driving device of robot are designed by bionic method.Aiming at the demand of light weight,the research is carried out from three levels: scheme principle,material selection and structure optimization.In order to enhance the flexibility of the robot,an elastic element is added to the drive device,and a simplified mechanical model of the flexible driving device is established.On this basis,the mechanical analysis of the robot and its main parts is carried out to verify the rationality of the corresponding structure and materials.(2)Combined with the leg structure of the robot,the kinematics analysis of the linkage mechanism and the spatial parallel mechanism of each joint is completed,and the relationship between the joint rotation angle and the output of the drive device is obtained.Taking the knee joint as an example,combined with the whole structure of the leg,the dynamic modeling and driving characteristics of the driving mechanism are studied,and the specific functions of the elastic components in the driving device are studied.The matlab function is used to optimize the important dimensions of the knee joint mechanism and the stiffness of the corresponding elastic elements,and the optimal dimension parameters and the optimum stiffness values of the elastic elements are determined.(3)The gait of robot is planned by inverted pendulum principle,and the leg motion simulation of lightweight robot is completed by adams,which verifies the correctness of gait planning results.The curve of joint torque is obtained,which provides the basis for the selection of actuators.Through the above research work,the robot leg driving device has been made,and relevant experiments have been carried out to verify the effectiveness of the driving mode and the function of the elastic element.It is hoped that the research and development of the robot can be beneficial to the research and development of the ground and air biped robot.