Design and manufacture of upper limbs for TAMUK HUMANOID.

摘要

Robots with human like shape have been a great help for humans in recent past and hence the research in the field of humanoids have taken a great pace. Various educational institutions and companies across the globe are spending great amount of funds and time on the research of humanoid robots. They can be used not only for industrial purposes but also they can be helpful for domestic purposes and helping handicaps or elderly people. Also, they can be used for research purposes like studying bipedal locomotion, motion planning, object detection, etc. The purpose of this research is to design a humanoid robot by considering all aspects of the human body and use it for studying the bipedal locomotion. This thesis also focuses on Kinematics and Dynamics of Humanoid Robots. To design this robot, we have considered a 4 to 6 years old infant. A compliant design of the humanoid robot's arm has been developed by using Computer Aided Design software and has been manufactured in machine shop and 3D printer during the course of time. We will focus on testing this arm in the future. Also, the compliance mechanism will be tested. This prototype will be attached to the main body later on.