Prototype of the hydraulic humanoid robotic legs

Humanoidni roboti so na področju znanosti vedno večji trend. Na Fakulteti za strojništvo Univerze v Ljubljani se je pojavila ideja o raziskavah in razvoju lastnega hidravličnega humanoidnega robota. V tej diplomski nalogi smo zasnovali in razvili prototip hidravličnih humanoidnih robotskih nog. Po pregledu najboljših praks smo zasnovali štiri različne koncepte, enega izbrali za realizacijo in izvedli potrebne simulacije ter preračune za zadostno robustnost hidravličnih nog. Sledila je zasnova končnega modela prototipa hidravličnih humanoidnih nog ter izbira standardnih elementov, potrebnih za njihov funkcionalni sestav. Ob dobavi po meri izdelanih in obdelanih komponent je po uspešnem sestavljanju sledil test delovanja in nato meritve hidravličnih tlakov in sistemskega pretoka. Ker za projekt ni bilo večjih denarnih sredstev, je izbor materiala ter komponent temu tudi primeren, prav tako test delovanja, saj je bila preizkušena le leva hidravlična noga. Po testu gibanja so kot najpomembnejši rezultati pomembni predlogi za nadaljnje delo, saj se v sklopu projekta »Hidravlični humanoidni robot« v bližnji prihodnosti pričakuje stalno nadgrajevanje in dodajanje koncepta.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