Hardware System Design Of Humanoid Robot

Humanoid robot is a kind of highly intelligent humanoid robot that integrates perception ability,learning and thinking ability,interaction ability,exercise ability and so on.Although the current robot technology is not enough to make humanoid robots have such human-like capabilities,as robot technology gradually matures and penetrates into major areas of people's lives,people's understanding of robots gradually strengthens and enhances I believe that in the near future,the existence of highly intelligent humanoid robots will be an inevitable trend.At present,the core technology of humanoid robots is mainly in the United States,Japan and other countries.However,due to the short research time of humanoid robots in China,the related technical level is relatively weak.Some of the main problems are: the complexity of the control system leads to the increase of the robot weight and cost and the extension of the development cycle,and the manufacture of the steering system Insufficient accuracy leads to poor robot stability.Some of t hese precision components such as motors,reduction gears,and micro control boards still need to rely on imports for a long time.Therefore,this topic analyzes and designs part of the robot control system hardware and steering gear system,and verifies the correctness and rationality of the hardware system design through hardware system testing.On the other hand,the robot is analyzed and simulated in forward and inverse kinematics,and a combined gait planning method based on three-dimensional linear inverted pendulum and ZMP Preview controller is proposed,which can make the robot's gait well The robustness and stability of the method solve the problem that the expected gait cannot be achieved under the single-step gait planning method.The main research contents of the paper are:(1)Hardware design of control system for humanoid robotThe humanoid robot in this article uses dual controllers as its control system hardware architecture.The main controller is the PICO-CV01 industrial motherboard,and the slave controller is the CM740 servo control board.Among them,the main cont roller and the camera are selected in hardware,and the hardware circuit design of the servo control board is included,including the minimum system design,communication module design,sensor module design,and voice module design.Finally,the PCB of the servo control board is designed and drawn.(2)Design of steering system of humanoid robotAs the joint of a humanoid robot,the steering gear bears the important task of humanoid robot's movement and walking.The humanoid robot is a system with many degrees of freedom and relatively complicated internal structure,so the selection and design of the steering gear will largely determine the accuracy and stability of the humanoid robot's motion control.This topic selected the DYNAMIXEL series MX-28 T digital servo produced by ROBOTIS of South Korea as the driver of the humanoid robot,and designed the servo's calibration and ID configuration,communication and commands.Control of the steering gear.(3)Kinematics and gait simulation design of humanoid robotAfter the design of the humanoid robot hardware system is completed and the test is passed,the mechanical structure of the 3D humanoid robot is designed,and then the humanoid robot is studied in depth in kinematics and gait simulation.First,the model of the humanoid robot under Matlab was built,and then forward and inverse kinematics simulations were carried out separately.Finally,the combined gait planning method of thre edimensional linear inverted pendulum and ZMP Preview controller was used to achieve gait planning and simulation.By testing some modules of the hardware system of the humanoid robot,it is verified that the corresponding hardware modules of the system are working normally,the hardware system design meets the requirements,and the designed communication protocol is reliable.Then the Matlab was used to simulate the kinematics and gait of the robot,which laid a certain foundation for the software control and simulation of the robot.Therefore,the research and study of this subject will have a certain theoretical reference value and practical application value on the entire hardware and software level of the robot.