Design And Dynamical Simulation Of Humanoid Robot (Upper Body)

The research and design of humanoid robot involves many subjects such as mechanics, electronics, materials and control. It stands for a country's high-tech development level and is also the human being's dream. Ever since 1990s, the research of humanoid robot has changed from imitating the walking alone to all-round imitating. The research on humanoid robot in China started late, especially on the upper body of humanoid robot.The upper body of humanoid robot includes four main parts: the waist, the head, and the arms (including the fingers). It has more DOFs than the lower limbs which lead to more complicated kinematical and dynamic problems. On the basis of analyzing the research results of the humanoid robots home and abroad, the design, theoretical research and the simulation of the prototype are researches in this thesis, just as follows:First, on the basis of analyzing the dimension scale and the motion law of human's upper body, according to the requirements of design and movement set before, the design of DOFs of humanoid robot and the mechanism of each joints were finished, and the selection procedure of motors, harmonic drives, inertial sensor, batteries and control panel were also given.Using the D-H method, we established the coordinate systems of the 6DOF hand and the upper body as a whole, and solved the problem of the direct and inverse problem of kinematics. The form of the Jacobian matrix and the dynamic equation of the upper body were also deduced. The analytical way of researching on kinematics and dynamics were given. The importance of waist part to the work space of the hand and to the stability of the whole robot was discussed.