双足仿人机器人行走系统结构设计与优化

Structure Design and Optimization of Biped Humanoid Robot Walking System

行走系统结构设计的研究是双足仿人机器人的重要技术指标,是双足仿人机器人行走能力的重要依赖。本文以拟人化分析方法分析了双足仿人机器人行走系统的结构需求,对行走机理的分析确定了自由度配置参数、尺寸、驱动方式等,并采用模块化设计思想进行结构设计实现。然后对双足仿人机器人进行拓扑结构优化、目标驱动优化,使得行走系统更加稳定、更加实用,对研究机器人行走系统的设计人员具有借鉴作用。

The research on the structure design of the walking system is an important technical index of bipedal humanoid robot, which is an important dependence of the bipedal laissez-passable robot walking ability. Based on the analysis method analyzes the anthropomorphic walking bipedal humanoid robot system structure of demand, the analysis of the walking mechanism determines the degree of freedom confguration parameter, size, drive mode, etc., and adopts the modular design idea for structural design. Then the bipedal humanoid robot for topology optimization of structural optimization, goal-driven, make walking system more stable, more practical, could be a reference to peer research robot system.