Modeling and simulation of a waist-trunk system with mass payloads

摘要

In this paper, modeling is proposed for simulating the functionality of a new waist-trunk system for humanoid robots. A 3D model of the proposed waist-trunk system has been elaborated in the MSC.ADAM~(R) environment with the aims to investigate its dynamical operation feasibility and to characterize operation performances. Motion algorithms have been developed in the Simulink~(R) environment for parameters tuning and they are used in the ADAMS model to simulate predefined movements. Dynamic simulation has been carried out in order to imitate a lateral-bending movement of human torso. Dynamical operation performances of the simulated ADAMS model have been characterized in terms of displacements, velocities, accelerations, actuation forces, and reaction forces. Simulation results have been reported and discussed for the purposes of mechanical design improvements and operational programming.