Structure Design And Optimization Of Humanoid Robot Walking System

The research of humanoid robot is a hot research field of the robot research. Walking system structure of humanoid robot supplies necessary support for the humanoid robot and plays a vital role in the research of robot. As an important technical index of humanoid robot research, walking ability of humanoid robot has become the main measure of humanoid robot research level. In view of the advantages and disadvantages of existing robot platform, this paper studied the humanoid walking system. The related work is as follows:The existing humanoid robots at home and abroad were analyzed. The anthropomorphic thinking was applied to the walking of humanoid robot system overall design scheme, analyzed the characteristics and the walking mechanism of the human body joints, determine the degree of freedom distribution form, and designed the overall structure size, selected the drive mode, the structural material. The inertia structure was reduced by reasonable arrangement motor position. Based on the idea of modular manufacturing, designed cross structure of the ankle and hip joint; Based on Parametric modeling theory, parametric modeling and virtual assembly of the humanoid walking system were done, assembly and interference performance was analysed, providing model for optimization design and simulation.According to the motion, the stiffness and strength analysis of the walking system key components were analysed. Topology optimization and multi objective optimization were used for structure optimization design of walking system based the idea of lightweight. The data results showed the validity of the optimization method. Finally, in order to simulate the actual movement situation,3D model of humanoid robot walking system was import to the rigid body dynamics simulation software through the interface software. After setting the motion parameters, the velocity and moment curves of corresponding joint were obtained. Simulation provided valuable information for enhancing dynamic performance of humanoid robot walking system.