Humanoid design and analysis (part I)

Abstract

This report presents a walk through on how SMITH elbow pitch, wrist pitch and waist designs were created. The first portion of the report covers the conceptual design of Smith’s elbow, wrist and waist units by discussing design core design goals such as “design for analysis” analogy to shape mechanical designs and identifying the mechanical elements needed for articulation of units. Using static force analysis on the elbow and wrist will be discussed for the selection of motors and speed reduces. The reasons of developing conceptual designs for SMITH’s waist joint will also be discussed and two versions will be presented in the report. The second portion of the report will cover the Embodiment design of SMITH’s elbow and wrist units by identifying of parts, the description of each of their functions and the assembly and placement components to form the elbow and wrist units. The last portion of this report, recommendations on future works to improve SMITH’s current design will be presented. Such recommendations include reduction of parts numbers by integrating components; standardising parts or the usage of lighter materials to construct outer frames.