Ajuste al Diseño del Prototipo Robot Bípedo

Abstract

This article presents the specification, analysis and simulation of a biped robot prototype. This bipedal structure constitutes the evolution of the first prototype developed in 2010 by the ARMOS research group. The mechanical design has a total height of 88.00 cm and 12 DOF along the entire bipedal structure. The visual aspect of the prototype included cylindrical and soft forms in order to create an appearance closer to human morphology. The prototype performance was evaluated using the derived model in SolidWorks Motion and SolidWorks Simulation using three different types of materials analyzing physical and morphological behavior. The behavior of the prototype was observed under static conditions in each of these three materials. The mechanical performance in terms of torque requirements and total mass of the structure was the criterion used in the selection of the optimum material for the bipedal construction. The final result in the selection of the most optimum material was the significant reduction of the mass and weight of the prototype, thus obtaining the reduction of efforts of the actuators and servomotors, in addition, the increase of speed and mobility.