Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
HUMANOID ROBOT LEG DESIGN
Submission Author:
Daniela Vacarini de Faria , SP
Co-Authors:
Thiago Tonaco, Daniela Vacarini de Faria, Caroline Silva, Marcos Maximo, Mariano Arbelo
Presenter: Daniela Vacarini de Faria
doi://10.26678/ABCM.COBEM2019.COB2019-1595
Abstract
In this paper we intend to design and manufacture a new leg for a humanoid robot developed by the ITAndroids group, because the current leg presents manufacturing imperfections, which affect the robot kinematic chain. First, we conducted an investigation to understand why these problems occur. Then, in order to design a better leg mechanism, a simulation model of the robot was used to obtain the forces acting on the leg during the walk. Thus a new geometry is proposed and analyzed by the finite element method (FEM). After these analyzes, the first prototype of the new leg is manufactured and assembled in the robot, thus providing a more precise kinematic chain.
Keywords
humanoid robots, Manufacturing, legged locomotion, structural analysis
