Design and analysis of a new humanoid robot Torso

Abstract

The development of humanoid robot shows great significant in domestic, services and medical application. Humanoid robot is developed to aid human daily task. However, the appearances of the humanoid robot affect the robot’s functionality as well as the acceptance of its usage in public. Hence, this study focuses on developing a new torso structure design for a humanoid robot for better performance. The new humanoid robot torso design is based on the actual human-like proportion and human torso structure. A 3D model of the torso has been designed and simulated in SolidWorks software. Aluminium is used as the raw material for the humanoid robot torso. The humanoid robot parts are fabricated via Computer Numerical Control (CNC) Machining and Water Jet Cutting. The design was then analyzed using Finite Element Analysis (FEA). Simulation results show that the new humanoid robot torso structure design is more stable and stronger where the maximum displacement for initial torso design is 9.715e-002 mm while after improvement is 6.783e-003 mm. The proposed system with 1 DOFs shows high strength and easy-to-control features and it is also proven that the simplified design is the best option to increase strength and stability.