| Humanoid robots have been developed for decades. Stable dynamic walking and dual-arm dexterous manipulation have been extensively researched. Thus, the upper and lower limbs of humanoid robots have been full-blown, usually be designed with 6 or 7 DOFs. Comparatively, the torso has been a neglected or simplified design part. However, the torso of humanoid robots is important in many aspects, such as multimode motion and transformation. To protect humanoid robots from damage when accident occurs, it is important to design robot with protection strategy. So the torso should have anti-shock structure to improve the safety of humanoid robots. This paper focus on the research of torsos of humanoid robot. The main research issues and results are summarized as follows.First, the status and trend of humanoid robots torso are investigated. The structure and motion mechanism of human torso is analyzed.Second, a new design of humanoid torso is proposed. It is a 3-DOFs hybrid mechanism composed of a 1-DOF serial mechanism and 2-DOF parallel mechanism. The kinematics of the mechanism is analyzed. To obtain large motion range, genetic algorithms is used to optimize the dimension parameters of torso. The optimized result is satisfactory.Third, structure design of the torso is carried out, include the selection of drive system, transmission design, components calculation and selection, three-dimensional modeling and so on.Finally, a dynamics simulation system based on ADAMS software is built to simulate the motions of the designed humanoid robot torso. A modified trapezoidal acceleration curve is used to plan the torso motion. The simulation result shows that the mechanism and kinematics is effective. |
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