Waist Structure Design and Dynamics Analysis of Humanoid Robot

Meng Zheng; Yankai Hu; Heng Li; Beilin He

doi:10.16578/j.issn.1004.2539.2019.02.013

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Waist Structure Design and Dynamics Analysis of Humanoid Robot

Design· Calculation | 更新时间：2022-10-09

- Waist Structure Design and Dynamics Analysis of Humanoid Robot
- Journal of Mechanical Transmission Vol. 43, Issue 2, Pages: 68-73(2019)
- 作者机构：
  
  1.西安理工大学机械与精密仪器工程学院，陕西西安 710048
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.02.013
  CLC：
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郑勐,胡艳凯,李恒等.仿人机器人的腰部结构设计及动力学分析[J].机械传动,2019,43(02):68-73.

Zheng Meng,Hu Yankai,Li Heng,et al.Waist Structure Design and Dynamics Analysis of Humanoid Robot[J].Journal of Mechanical Transmission,2019,43(02):68-73.
郑勐,胡艳凯,李恒等.仿人机器人的腰部结构设计及动力学分析[J].机械传动,2019,43(02):68-73. DOI： 10.16578/j.issn.1004.2539.2019.02.013.

Zheng Meng,Hu Yankai,Li Heng,et al.Waist Structure Design and Dynamics Analysis of Humanoid Robot[J].Journal of Mechanical Transmission,2019,43(02):68-73. DOI： 10.16578/j.issn.1004.2539.2019.02.013.

摘要

针对目前市场上机器人各运动关节都需要靠伺服电机驱动的情况，设计了一台具有躲闪功能的仿人机器人。采用单电机驱动并通过控制电磁离合器的状态，实现腰部关节的运动，最终完成机器人的躲闪动作。为了验证其主要零部件选型的正确性和结构设计的合理性，运用拉格朗日函数对机器人躯干结构进行了动力学研究；然后利用ADAMS软件对机器人虚拟样机进行动力学仿真分析，得到相应的关节转矩曲线；最后，完成机器人实物装配并通过实验测试对机器人躲闪功能进行了验证。

Abstract

In view of the simple structure of the robot in the current market and the fact that each joint is driven by a servo motor， a humanoid robot with a dodge function is designed， which is driven by a single motor and controls the state of the electromagnetic clutch to realize the movement of the lumbar joint. And finally the dodge motion of robot is completed. In order to verify the correctness of the main component selection and the rationality of the structural design， the dynamics of the robot trunk structure is studied by using the Lagrangian Function， and then the dynamics simulation analysis of the robot virtual prototype is performed by using ADAMS software， the corresponding joint torque curve is obtained. Finally， the robot physical assembly is completed and the dodge function is verified through experimental test.

关键词

躲闪功能仿人机器人拉格朗日动力学ADAMS

Keywords

Dodge functionHumanoid robotLagrangian dynamicsADAMS

references

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