| Humanoid robots have the characteristic that can walk with two legs, they are widely applied to dangerous operation, medical treatment, service business and so on. But they are not stable when walking. When the humanoid robots work in the complex environment, the robots have a big probability to fall down because of the impact force from the ground. It will lead to the destruction of the mechanical structure or the core parts, accordingly, it unable to complete the tasks and goals. This paper is aimed at improving the adaptability of humanoid robots. When the robots falling down or be impacted, the design of the new robot arms can avoid the destruction of core parts inside the robots.First, the paper analyzes the posture of human and protective action when they are falling over, it lays the foundation for the mechanical structure design and the protection methods.This paper was divided the work into three parts, and design three different parts structure of the robot arm and protect them one by one.Second, the paper proposed a kind of series elastic actuator, including actuating device, reduction gear, elastic element and actuator, and these are used for absorbing the energy. Next, the motion simulation and analysis of the actuator was done. At the same time, we analysis the key parts of finite element analysis and optimization design then.Third, the torque limiter protection was designed on the shoulder, when the impact is too large, the input side will separate from the output side. The output side can rotate with the bear, so it can protect the motor and reducer from damaging.Finally, we design the adaptive hand structure which can make the robot soft landing on the ground. It can avoid the uncontrolled damage because of slipping on the floor. |
