Humanoid Robot Mechanical Design And Analysis

Humanoid robot is an integrated platform that includes mechanism, driving, sensing and other core components, and involves bionic, interactive, intelligent technologies. It was setted as a key project in the field of advanced manufacturing technology during the National 11th Five-Year. The research work of humanoid robot could promote the development of the advanced units and intelligent techniques. With the high requirements on the motion, perception and operation, the high-precision transmission, high-performance motor drive, motion sensing system and the motion capibility are demanded.This paper mainly designed and developed an overall mechanical structure of the humanoid robot "Kong", main work is as follows:1. The freedom of the robot is designed and the dimensional model is established based on the analysis of the human being's bones and muscles with a bionic idea.2. The speed and torque values of each joint are calculated using the dynamics simulation of ADAMS. Such a way provides selection reference to the motor and harmonic gear reducer of joints.3. The mechanical structure of body and two legs is designed, especially for the key joints including hip, knee and ankle, flexible foot, waist, and trunk, where the functional requirements are considered and ensured. With the force analysis of the structure by FEM method, the reliability and stability of the robot is guaranteed.4. A cooling method for the motor is proposed with the thermal analysis experiments carried out. The practical results show that the mehod presented can make the motor work in a mode of twice of the rated current, which increases efficiently the output torque of the motor.5. The mechanical structure of the light-weight 6-DOFs arm is designed based on the proposed motion planning method where the kinematics of the arm is analyzed.