A joint robustness testing system for humanoid robot

Abstract

The invention discloses a robustness test system for joints of a humanoid robot. According to the robustness test system disclosed by the invention, a humanoid joint is loaded by using cylinders as power elements, and the robustness test system has the function of completely testing the robustness of the joints of the humanoid robot. The robustness test system for the joints of the humanoid robotmainly consists of cylinders, a bracket, a humanoid joint, pressure sensors, tension sensors, displacement sensors and connecting pieces, wherein through the movement displacement or the magnitude ofoutput force of the cylinders which are arranged up and down are independently or simultaneously controlled, so that loading of various complex shapes can be realized. The robustness test system disclosed by the invention is driven by the cylinder, has the characteristics of being simple and compact in structure, capable of performing multi-direction loading, and convenient to perform quantitativeanalysis, and can be used for performing robustness test on mechanisms which need to perform multi-direction quantitative analysis, including humanoid joints, robots and others.

Description

technical field [0001] The invention belongs to the technical field of robot testing, and relates to a joint robustness testing system of a humanoid robot. Background technique [0002] In order to design machines that adapt to the mechanics of the body's movement, it is necessary to understand the role of each muscle in the human body during work. Chinese patent applications CN107342012A, CN107309901A, CN108000551A, CN107283413A, CN107972013A, CN108406763A, CN108527357A have respectively designed humanoid lumbar joints, humanoid necks, humanoid chest-back joints, humanoid upper limbs, humanoid lower limbs, humanoid cervical spine based on pneumatic muscles , Humanoid lumbar spine, Chinese patent application CN108335602A has designed a humanoid lumbar joint in which pneumatic muscles and cylinders are mixed. Chinese patent applications CN107550688A and CN108544473A respectively propose humanoid robots based on pneumatic muscles, and Chinese patent applications CN108466256A ...

AI Technical Summary

Problems solved by technology

At present, the commonly used method to verify the robustness of the system is to load iron blocks of different weights in different parts of the system. The loading direction is single, and the load disturbance can only be analyzed qualitatively, and it is difficult to conduct accurate quantitative analysis.

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