Design And Development Of Humanoid Service Robot

Humanoid service robot is similar to the appearance of human being,which has some simple humanoid behavior.As a kind of service robot,humanoid service robot has great research and application value.Compared with the traditional industrial robot,it has the advantages of improving the quality of life,reducing service jobs and communicating with others.Therefore,the humanoid service robot is expected to be applied in real life,so as to serve the humanity and society.However,the research status at home and abroad,the research on humanoid service robot was lack of cost control,which leads to high cost.In addition,the design of humanoid robot was not very like human being and the control of humanoid service robot was usually difficult.Therefore,in order to solve above shortcomings of the researches,this paper develop a very cost-effective and high-like humanoid service robot.All in all,the system of software and hardware can meet the need of humanoid service robot.According to the human body skeleton form,this paper designs the humanoid service robot structure,and analyzes kinematics of the robotics arm,and then designs and built the software and hardware system of the human service robot.Finally,the prototype is debugged.The main contents included:(1)According to analyzing the famous theory of the uncanny valley and the structure of the human skeleton,this paper designs the mechanical body of the humanoid service robot.There are three main parts in the design of the body: the head,the double arms and the trunk.The head of the humanoid service robot has five degrees of freedom,which can realize the blink,the turning of the eyes,the opening and closing of the mouth,the turning of the head and the elevation of the head.An arm of humanoid service robot has six degrees of freedom,which can realize most of the arm body language.The trunk portion include a bent degree of freedom and a solid base.(2)Based on the mechanical arm,this paper analyzes the kinematic.The robotics arm is a series of six axis mechanical arm,which has the characteristics of general industrial manipulator.According to the design of the arm,the D-H parameters are established,and then the forward kinematics of the arm is derived.Finally,the workspace of the arm is obtained based on the Monte Carlo algorithm.(3)According to the Modbus communication protocol,the hardware and software platform of the robot is designed.The software is divided into two parts: the host computer and the slave computer.The host computer can send commands to the slave computer to control the humanoid service robot.Hardware is to build the entire system hardware system.(4)According to the whole humanoid service robot system,the preliminary debugging is carried out.Through debugging,the robot can basically complete the corresponding function.The feasibility of the software and hardware system is proved.