Research On Performance Robot Anthropomorphic Effect Optimization Method

In recent years,performance robots,which are halfway between industrial robots and service robots,have attracted more and more attention,not only bringing people joy,but also increasing people's interest in science and technology.With the development of various control technologies and actuator integration technologies,performance effects and appearance fidelity of perfo rmance robots have been greatly improved,but still cannot meet people's demand for high performance of performance robots,especially humanoid performance robots.From the perspective of performance requirements,structural functions and anthropomorphism,this paper mainly studies the optimization methods of anthropomorphic effects of performance robots,from robot performance planning,mechanical structure design,electrical and control design,kinematics analysis,optimization and control of anthropomorphic motion curves,etc.In terms of effect optimization research,the performance of the performing robot is more realistic,the effect is more anthropomorphic,and the performance of the performing robot in various application links is improved.Combined with structure space and movement characteristic of humanoid robots,robot acting demand for structure design,combined with the mechanical structure of space rationality of realizability and joint position to perform robot motion planning,studies the key factors influencing the effect of personification action,with less degree of freedom to achieve more lifelike humanoid robot joints work performance requirements.The kinematics and dynamics analysis of the key parts that affect the performance of the robot is carried out,which provides a mathematical model for the follow-up action planning and related control.The two-degree-of-freedom structure of the waist and shoulder of the robot is analyzed and compared.The optimized design makes the robot more human-like and realistic.Based on ADAMS software,robot kinematics and dynamics simulation analysis and optimization,verify the robot movement joints drive motor power and the rationality of the parameters selection,analysis of each joint movement interference situation,find the key point of interference between each joint action,based on the requirement of performance movement,analysis and optimization of robot joint movement script curve.Develop a robot script curve interpolation and sleek plug-in based on MATLAB,and optimize the motion curve through interpolation and smoothing,so that the motion curve can be guided by at least 3 orders,reducing the motion impact of the joints of the performing robot,and thus reducing the motion interference between the joints.Make the performance of the performing robot softer and more ornamental.Compare the actual physical prototype and simulation analysis data results,and combine the actual motion effect of the physical prototype to further optimize the running curve.