Simulation Research On Kinematics Of Freestyle-skiing Robot Based On ADAMS

With the development of modern technology, the application of robotics technology is constantly expanding into modern production, national economy and people’s livelihood. In the field of robotics, humanoid robot has the most complex system structure and the highest degree of integration. Humanoid robot represents the cutting-edge robot technology and is the frontier in the field of robotics. The research about humanoid robot has very important significance. This topic aims to contribute to sports industry through the establishment of the freestyle-skiing robot model, kinematics and dynamics analysis, gait planning study and the application of virtual prototyping technology for freestyle-skiing robot during the assistant slippery stage. The paper of the main work is as follows:Firstly, based on the structural characteristics of a freestyle-skier’s body and the analysis of the human being’s bones and muscles, the mechanical structure of body was designed with modular, bionic, experimental design methods and FEM, especially for legs, trunk, arms and head, where the functional requirements are considered and ensured.Secondly, on the base of the CAD model of the freestyle skiing robot, the kinematic analysis of the freestyle-skiing robot had been deduced including the equations of forward kinematics and inverse kinematics. On the basis the dynamic analysis of the freestyle-skiing robot was designed. Jacobi matrixes were deduced and the dynamic model of the freestyle-skiing robot was established according to Lagrange equation.Thirdly, according to the structural characteristics of the freestyle-skiing robot and existing experimental data, the gait planning of the freestyle-skiing robot was designed based on the methods of the human motion data. The robot trajectory planning of hip, knee, shoulder and elbow was established by the algorithm of the cubic spline interpolation. And the Zero Moment Point is used as a criterion to verify the stability of the freestyle-skiing robot.Fourthly, a simplified model of the freestyle-skiing robot was established in ADAMS. And the motion curves of joints generated STEP functions and were imported into the simulation software ADAMS for joints control, which can verify the feasibility and stability of the gait planning based on the methods of the human motion data.