Research And Design Of A 3-DOF Humanoid Robot Waist Joint

The waist mechanism is one of the significant components of the humanoid robot.The joining of the waist joint has a great promotion effect on the motility and stability of the humanoid robot.In this paper,the research and design of the waist joint of the humanoid robot will make the humanoid hip joint have better dynamic characteristics and bearing capacity.Further improve the stability of humanoid robot and expand the working space of humanoid robot.The main contents of this thesis are as follows:(1)To study and summarize the human-like waist joint domestic and abroad,and to study and summarize the characteristics of human's waist joint motion,movement mechanism and waist size.And as a reference basis,summed up the design requirements.(2)According to the design requirements,put forward feasible solutions.The program continued to improve,the use of 2PSU-S parallel mechanism as a human body with three degrees of freedom of the waist joint configuration.(3)Analyzing the mechanism of humanoid waist joint,calculating and verifying the degree of freedom of the mechanism,calculating the kinematic space of the humanoid waist joint by solving kinematic inverse solution,and determining a reasonable humanoid waist joint structure size.(4)Design the mechanical structure of humanoid waist joint,including the transmission method and transmission structure design,the base structure design,the overall structure layout analysis and the establishment of the overall structure of the three-dimensional model and the overall structure optimization,and through the three-dimensional design SolidWorks software draws the structure of the three-dimensional map of the different programs were analyzed and selected.And to join the variable stiffness characteristics of the waist joint.5)Making and assembling the experimental prototype,setting up the experimental platform,completing the experimental content and verifying the rationality of the structure.