The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponent...

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Veröffentlicht in:Applied Mechanics and Materials 2014-01, Vol.496-500 (Frontiers of Manufacturing and Design Science IV), p.857-860
Hauptverfasser: Xin, Hong Bing, Liu, Long, Wang, Tan, Xin, Yue Fei, Cui, Deng Qi
Format: Artikel
Sprache:eng
Schlagworte:
Design engineering
Humanoid
Kinematics
Legs
Mathematical analysis
Mathematical models
Robots
Systems design
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Zusammenfassung:In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.496-500.857