Modeling and optimization of framing elements of torso and the pelvic mechanism of antropomorphic robot antares
Modern prototypes of design of anthropomorphic robots that are able to jump and control its falling are considered. The current results of the development of the Antares robot are presented, in particular the new version of the frame elements of the torso, which is characterized by greater resistance to loads. The design of the torso and pelvic of the Antares robot is described. Modeling of loads on construction was carried out and a torso model was constructed, which includes the main supporting frame intended for the installation of head modules, manipulators and pedipulators. The results of modeling external loads and potential wear of the pelvic mechanism were considered in the optimized model, weak design elements were reconstructed or excluded from the robotic framework. The weight of the optimized torso design, including the pelvic mechanism, is 700 grams, of which 150 g are accounted for servo drives. A new loadbearing structure was developed, taken into account the results of the load simulation and construction optimization, an optimized torso module was constructed, from which elements and individual parts that are insignificant for the design are eliminated. The new assembly design of the pelvic mechanism of the robot has a support area that 21 times greater than the previous gear's support area. The parts, designed as consumable items, are susceptible to the most rapid fatigue of the material, also they are capable of withstanding a large number of cycles of variable and cyclic loading during operation. Further researches will be dedicated to improving the assembly, taken into account the results of the load simulations and testing of the assembled prototype, also the flange supports, the bearing mountings and the coupling half will be improved in order to obtain greater versatility and expandability in robotic systems and various mechanical devices.