Waist Structure Design and Dynamics Analysis of Humanoid Robot
In view of the simple structure of the robot in the current market and the fact that each joint is driven by a servo motor， a humanoid robot with a dodge function is designed， which is driven by a single motor and controls the state of the electromagnetic clutch to realize the movement of the lumbar...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.013 |
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| _version_ | 1841548761359187968 |
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| author | Meng Zheng Yankai Hu Heng Li Beilin He |
| author_facet | Meng Zheng Yankai Hu Heng Li Beilin He |
| author_sort | Meng Zheng |
| collection | DOAJ |
| description | In view of the simple structure of the robot in the current market and the fact that each joint is driven by a servo motor， a humanoid robot with a dodge function is designed， which is driven by a single motor and controls the state of the electromagnetic clutch to realize the movement of the lumbar joint. And finally the dodge motion of robot is completed. In order to verify the correctness of the main component selection and the rationality of the structural design， the dynamics of the robot trunk structure is studied by using the Lagrangian Function， and then the dynamics simulation analysis of the robot virtual prototype is performed by using ADAMS software， the corresponding joint torque curve is obtained. Finally， the robot physical assembly is completed and the dodge function is verified through experimental test. |
| format | Article |
| id | doaj-art-280d8be5297a4acea92b0f5d486a831b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-280d8be5297a4acea92b0f5d486a831b2025-01-10T14:02:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-02-0143687330638681Waist Structure Design and Dynamics Analysis of Humanoid RobotMeng ZhengYankai HuHeng LiBeilin HeIn view of the simple structure of the robot in the current market and the fact that each joint is driven by a servo motor， a humanoid robot with a dodge function is designed， which is driven by a single motor and controls the state of the electromagnetic clutch to realize the movement of the lumbar joint. And finally the dodge motion of robot is completed. In order to verify the correctness of the main component selection and the rationality of the structural design， the dynamics of the robot trunk structure is studied by using the Lagrangian Function， and then the dynamics simulation analysis of the robot virtual prototype is performed by using ADAMS software， the corresponding joint torque curve is obtained. Finally， the robot physical assembly is completed and the dodge function is verified through experimental test.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.013Dodge functionHumanoid robotLagrangian dynamicsAdams |
| spellingShingle | Meng Zheng Yankai Hu Heng Li Beilin He Waist Structure Design and Dynamics Analysis of Humanoid Robot Jixie chuandong Dodge function Humanoid robot Lagrangian dynamics Adams |
| title | Waist Structure Design and Dynamics Analysis of Humanoid Robot |
| title_full | Waist Structure Design and Dynamics Analysis of Humanoid Robot |
| title_fullStr | Waist Structure Design and Dynamics Analysis of Humanoid Robot |
| title_full_unstemmed | Waist Structure Design and Dynamics Analysis of Humanoid Robot |
| title_short | Waist Structure Design and Dynamics Analysis of Humanoid Robot |
| title_sort | waist structure design and dynamics analysis of humanoid robot |
| topic | Dodge function Humanoid robot Lagrangian dynamics Adams |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.013 |
| work_keys_str_mv | AT mengzheng waiststructuredesignanddynamicsanalysisofhumanoidrobot AT yankaihu waiststructuredesignanddynamicsanalysisofhumanoidrobot AT hengli waiststructuredesignanddynamicsanalysisofhumanoidrobot AT beilinhe waiststructuredesignanddynamicsanalysisofhumanoidrobot |