A Kind of Robot Structure Design and Kinematics Analysis

Yankai Hu; Hui Fu

doi:10.16578/j.issn.1004.2539.2021.12.012

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A Kind of Robot Structure Design and Kinematics Analysis

Design· Calculation | 更新时间：2022-09-15

- A Kind of Robot Structure Design and Kinematics Analysis
- Journal of Mechanical Transmission Vol. 45, Issue 12, Pages: 74-78(2021)
- 作者机构：
  
  1.陕西国防工业职业技术学院智能制造学院，陕西西安 710300
  2.西安交通工程学院电气工程学院，陕西西安 710300
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.12.012
  CLC：
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胡艳凯,付慧.一种机器人结构设计及运动学分析[J].机械传动,2021,45(12):74-78.

Hu Yankai,Fu Hui.A Kind of Robot Structure Design and Kinematics Analysis[J].Journal of Mechanical Transmission,2021,45(12):74-78.
胡艳凯,付慧.一种机器人结构设计及运动学分析[J].机械传动,2021,45(12):74-78. DOI： 10.16578/j.issn.1004.2539.2021.12.012.

Hu Yankai,Fu Hui.A Kind of Robot Structure Design and Kinematics Analysis[J].Journal of Mechanical Transmission,2021,45(12):74-78. DOI： 10.16578/j.issn.1004.2539.2021.12.012.

摘要

仿人机器人是机器人领域的重要组成部分，其特性分析涉及机械、电子、材料等学科。由于仿人机器人能够模仿人类行为和动作，能更好地为人类服务，已成为当前的研究热点。大部分仿人机器人搭载大量的智能软硬件，但本体设计仍然存在缺陷，尤其是仿人机器人腰部结构设计，创新性不足，制约着整体的功能发挥。基于此，设计了一种仿人机器人腰部结构，具有一定的创新性。运用旋量理论对其位姿进行计算；通过Adams和Matlab进行仿真拟合；进行了实验验证，证明了结构设计的合理性及可行性，为机器人动力学分析打下基础。

Abstract

Humanoid robots are an important part of the field of robotics，and their characteristics analysis involves disciplines such as machinery，electronics，and materials. Since humanoid robots can imitate human behaviors and actions and can better serve humans，it has become a current research hotspot most humanoid robots are equipped with a large number of intelligent software and hardware，but the body design still has defects，especially the waist structure design of humanoid robots，which is not innovative and restricts the overall function. Based on this，a kind of humanoid robot waist structure is designed，it has a certain degree of innovation. Firstly，its pose is calculated by using the spin theory. Secondly，by using the Adams and Matlab，the simulation fitting is carried out. Finally，it is verified by experiments to prove the rationality and feasibility of the structure design，it lays the foundation for robot dynamics analysis.

关键词

仿人机器人腰部结构旋量理论Adams

Keywords

Humanoid robotWaist structureSpin theoryAdams

references

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