Research On Key Technologies Of Reconfigurable Wheel-track Humanoid Robot

With the rapid development of economy,society and information technology,humanoid robot should be transported to the world’s high-tech development stage.It integrates many sciences into one.By imitating human’s form and behavior,it can assist or even replace human’s work in various fields.However,in terms of the current research status at home and abroad,the research of humanoid robot has not completely separated from the experimental environment,and the robot with complete design and high degree of imitation is often under huge cost pressure.For the development of domestic robot technology,the related research of humanoid robot needs to inject fresh blood and seek breakthroughs in key technical fields.Therefore,based on the reconfigurable wheel track humanoid robot,this paper studies some key technologies from the perspectives of innovation,integrity,modularity and low cost.In view of the problems existing in the current research,the innovation design of the humanoid robot’s middle wheel-track composite motion mechanism,head and neck universal mechanism,bionic robot binocular mechanism is carried out,and the design calculation and static mechanics analysis of the key components in the structure are carried out to verify the reliability of the structure.The kinematics and dynamics analysis of each mechanism of humanoid robot are completed,and the theoretical basis of robot motion control is improved.The motion of each mechanism is simulated and analyzed by ADAMS simulation software to further verify the overall stability of the mechanism and the rationality of the mechanism design.The control system of reconfigurable wheel-track humanoid robot was designed and developed,and the hardware and software design and circuit principle simulation of the control system were carried out.In the follow-up,the robot experimental prototype was built to verify the robot motion control performance.Based on the experimental prototype,relevant experimental studies were carried out.Through the obstacle crossing experiment of the reconfigurable wheel-track robot,the obstacle crossing performance of the robot was further verified under different motion states.The feasibility of replacing the binocular camera with the monocular camera is verified through the experiment of binocular depth ranging of the bionic robot eye,and the vision field of the robot is expanded.