Design And Research Of The Lower Limbs Of Humanoid Robot With Rope Drive

With the function of bipedal walking,a humanoid robot can replace human beings to perform special works,so humanoid robot will have better application prospect.However,currently existing humanoid robots have problems of insufficient compliance.Therefore,it is of great significance to study the lower limbs of humanoid robot with flexible rope.Firstly,this thesis uses the rope instead of human muscle to drive the robot joint by studying the mechanism of human lower limb movement.The lower limb structure of humanoid robot was designed.Then,the kinematics and dynamics model of the robot was established,the inverse kinematics and dynamic analysis were completed;The effect of ground reaction on joint moment was studied by using SimMechanic to verify the correctness of dynamic model.Secondly,the moving range of the joint,the starting and ending point,supporting point of each rope are determined.The relationship between the length of the rope and the angle of the joint is calculated;The joint tension was solved by using the optimized method;The main influencing factors of joint stiffness are studied.A new type of variable stiffness device is designed and the analysis of variable stiffness module and the solution of the range of joint stiffness are completed.Finally,the dynamic simulation model is established in ADAMS and the reasonable simulation parameters are setted.The humanoid robot is drive by using rope length and pull respectively.The simulated gait results are consistent with the experimental data of human gait.The feasibility of rope drive and the correctness of tension calculation are verified.The joint control system is designed in Simulink with well tracking effect.The key parts are analyzed and checked in ANSYS,verifying the reliability of the parts.This study provides a new idea for humanoid robot design.With the flexibility of the rope and the variable stiffness provided by the variable stiffness device,the walking gait of the humanoid robot has shown certain flexibility.At the same time,the research of rope-driven robot has certain reference significance to the rehabilitation robot.