Humanoid robots are a growing trend in science. The Faculty of Mechanical Engineering at the University of Ljubljana came up with the idea of researching and developing its own hydraulic humanoid robot. In this thesis, we have designed and developed a prototype of hydraulic humanoid robot legs. After reviewing best practices, we designed four different concepts, selected one to implement, and performed the necessary simulations and calculations to ensure that the hydraulic legs are sufficiently robust. This was followed by the design of the final prototype model of the hydraulic humanoid legs and the selection of the standard elements needed for their functional assembly. Upon delivery of the custom-made and machined components, the successful assembly was followed by an operational test and measurements of the hydraulic pressures and system flow. As the project funds were limited, the choice of materials and components had to be adjusted to the circumstances, as was the operational test, as only the left hydraulic leg was tested. After the motion test, the most important results are the suggestions for further work, as the "Hydraulic humanoid robot" project is expected to continuously upgrade and add concepts in the near future.
|
