Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization

摘要

A new torso structure for a humanoid robot has been proposed. The structural characteristics and functions of human torso have been considered to gain inspirations for design purposes. The proposed torso structure consists of six revolute units divided into two basic categories connected in a serial chain mechanism. The proposed torso structure shows more advantages compared to traditional humanoid robots in terms of high degrees of freedom (DOFs), high stiffness, self-locking capabilities, as well as easy-to-control features. Bionic optimization design based on objective function method has been implemented on structural design for better motion performances. A 3D model has been elaborated and simulated in SolidWorks and ADAMS environments for structural design and kinematic simulation purposes, respectively. Simulation results show that the new bionic torso structure is able to well imitate movements of human torso.