Humaniod Robot Development and Research
|School||Shandong University of Science and Technology|
|Course||Mechanical and Electronic Engineering|
|Keywords||Humanoid robot ADAMS Simulation Optimal design SimMechanics|
Development and research papers humanoid robot , fully consider the actual situation of persons with disabilities , based on the structural characteristics of the ergonomic standards and work space requirements , the completion of the overall selection of the joint stretch - humanoid robot design and transmission design , the use of traction structure flexible finger joints , and increase the working range of the arm , increased flexibility , and ultimately achieve a compact size , and functionality to meet the basic needs of life of persons with disabilities humanoid robot . The first design according to the ergonomic standards of the overall structure of the manipulator , the movement of the various joints as well as the drive mode . Optimized design of key components , applications ADAMS mechanical simulation software , flexible led rope model , and simulation to solve the structural design of the irrational part , to avoid the problem of motion uncertainty to the actual physical prototype production technical support ; Secondly , the use of optimal design theory to model the robot grips the optimized design , optimize grip torque meet the grip , to achieve the purpose of grip in the smaller torque , with the ADAMS design grip model , according to the trend of the grip can be judged , the robot can be stabilized to grab an object ; final means of MATLAB / simulink the following of simMechanics mechanical system simulation module abstract rod model of the robot , the model can be directly call simulink control signal source for the drive signal , the combination of the mechanical system and control system .