Design And Development Of Small Humanoid Educational Robot

Nowadays,the concept and practice of robotics education is deeply rooted among the people,and the educational-robot is facing various opportunities such as national policy support,industrial reforming promotion,capital market assistance,scientific and technological innovation demands,etc.Besides,the development of small humanoid robots suitable for the young students has attracted more and more attention and has become the focus of this field.In this paper,the history of educational robots and small humanoid robots is summarized from the different aspects,and the key technical parameters of small humanoid robot NAO and Alpha 1S are introduced.The main objective of the research is to develop a ten degree-of-freedom(DOF)small humanoid educational robot,in the process of research and development,the principles of four combinations is adhered to achieve the diversity of robot control mode and the universality of robot operation,so the students' innovative consciousness,practical ability and thinking level can be improved simultaneously.Therefore,the method of four combinations is created,based on the detailed planning and in-depth exploration,the research is completed mainly by mechanical structure design,hardware system design and software system design.In the design of mechanical structure,the whole DOF of the robot is analyzed in detail and the reasonable ratio is obtained by the means of human bionics.In consideration of the motion characteristics of the driving elements,the SG90 steering engine is selected as the driving motor of the robot's joints.Besides,the engineering design and size optimization of the robot's mechanical structure is completed.In order to promote the practical ability of the young students,laser cutting has been especially applied to the solid parts of the robot.The mathematical model of small humanoid robot with ten DOF and nine connecting rods is established,and the forward and inverse kinematics of the robot is analyzed,which is the basic condition of the analysis for the kinematics and dynamics.In the design of control system hardware,based on the lectotype analysis,STM32F103C8T6 is chosen as core control chip and MPU6050 as the attitude detection sensor,which are the system nucleus.The special circuit for the robot is designed,including MCU peripheral circuit,power circuit,sensor detection circuit,etc.Based on the PCB design of the circuits,the PCB board for control circuit and remote controller is manufactured.The control system software is designed based on the method of hierarchical frame,which consists of top-down driving layer,application layer and execution layer.The control method and program of multiple steering engines,sensors and remote controllers are designed,and the upper monitor software of the robot is developed.Each part of the software has a clear division of labor,and multiple functions of the robot are obtained.After the design and development of a small humanoid educational robot,a variety of experiments based on Adams are carried out.Combined with the goal of talent cultivation and creative education,a series of teaching practice activities are developed,and the ten DOF small humanoid educational robot has participated in a number of domestic competitions.The rationality,reliability,feasibility and practical value of the robot design are proved by the simulation experiments,prototype experiments,teaching practice and the competition results.The research of small humanoid robot makes a big difference in the education field.In this paper,the prospect is put forward based on the research,which has significant value for the development of educational robot and the robot education activities.