Mechanism Design of Humanoid Robots

This chapter focuses on the mechanism design methods of humanoid robots from a system perspective. Based on the design requirements, the actuation configuration scheme, actuation mode, motion range, strength and rigidity requirements of the robot system shall be determined. The humanoid robot mechanism is generally divided into three main parts: legs, arms, and chest. And then, the specific joint mechanisms, transmission mechanisms and support structures of each part are designed in details, followed by structural analysis and mechanism design optimization. The 2D engineering drawings of the designed parts are generated, the machining techniques are determined, and the machining, assembly, and commissioning of parts and components are completed to finally form the humanoid robot system.