人型機器人之運動學分析

本研究係針對市面上常見之人型機器人，首先收集其相關之網路資訊及參考資料，再加以整理、分類與分析。依據所蒐集之公開資料，對其機構自由度加以分類，並探討手部及足部因不同自由度所造成的差異性。本研究根據官方網站上所公開的資訊，選定一款資料最為豐富，由KANDO公司所生產的KHR-2HV兩足式人型機器人進行運動學分析。藉由模擬KHR-2HV兩足式人型機器人側翻的動作及關節部份支撐臂的應力以完成此分析。研究中以Pro/Engineer Wildfire 3.0繪製KHR-2HV兩足式人型機器人之3D零件圖與3D組合圖，之後再利用Pro/Mechanism 進行側翻的運動模擬，接著使用Pro/Mechanica來進行應力分析，最後並與實際產品進行比較與討論，完成KHR-2HV兩足式人型機器人運動學分析。

關鍵字

人型機器人；機器人

並列摘要

This research is aimed at the common humanoid robot on the market. First of all, collect its relevant network information and reference material, then sort out, classify and analyze all of these. According to the open materials been collected, classify its degree of freedom of mechanism, probe into the difference caused because of the different free degree of its hands and feet. The data of this research is based on the open information put on the official website, select a style with the most abundant materials, KHR-2HV, which is two foot type humanoid robot produced by KANDO Company, to carry on kinematics analysis. From simulating the movements of side rolling and the stress of joints of the supporting arms of this KHR-2HV two foot type humanoid robot to finish the analysis. During researching, the whole process is – first drawing 3D parts and combination photos of KHR-2HV two foot type humanoid robot with Pro/Engineer Wildfire 3.0, using Pro/Mechanism to simulate side rolling, then using Pro/Mechanica to carry on the stress analysis. Finally discuss and compare with the real product of KHR-2HV two foot type humanoid robot to work out the kinematics analysis.