Design and simulation of biped robot based on ball screw

In order to realize more efficient movement and stronger structure of the biped robot, this paper innovatively proposes a new connection configuration scheme at the knee joint, that is, the ball screw is used for connection, the screw part of the ball screw is fixed on the upper side of the thigh, and the rotating motion of the motor can be converted into linear motion by relying on the motion characteristics of the lead screw. Through the linear movement, the lower leg is indirectly driven to achieve movement, so that the degree of freedom at the knee joint is satisfied, and the strength is greatly improved compared with the traditional connecting rod model. This paper uses SOLIDWORKS to build the model, which also reflects innovation in the design of the hip joint, abandoning the traditional five-link structure and adopting a more concise connection mode, while ensuring the freedom of the hip joint yaw, roll and pitch, while improving the strength. After the model was established, ADAMS was used to simulate and verify the movement of the model. The results showed that the biped robot could complete the basic movement ability of displaying the freedom of each joint, standing still, walking, turning in place, rectangular walking and climbing, etc., which fully demonstrated that the structure had a certain level of obstacle crossing. The structure of the biped robot was explored again.