MIN-Fakultät
Fachbereich Informatik
TAMS

Design of a 3D-printed Humanoid Robot

Bachelor or Master Thesis at group TAMS
Auch in deutscher Sprache möglich.

Motivation

In 2015, the Bit-Bots team developed the 3D-printable humanoid robot Hambot to participate at the robocup competitions [Refernce to minibot??]. While the Hambot project was successful and the robot is actively used by the team, the mechanical design was mainly done manually, requiring substantial effort and the result is somewhat simplistic, consisting mainly of simple geometric shapes.

One main advantage of additive manufacturing is the ability to produce organic and geometrically complex objects without requiring additional time or effort. A common way to create "optimal" mechanical parts is the application of topology optimization, where the geometry of an object is iteratively optimized by applying finite element methods. This approach requires certain knowledge about the loading conditions to simulate the physical effects of forces the part must withstand. Those conditions where not known in the past.
This situation has changed recently, we now have 3 main sources to determine relevant forces and loads at joint positions during active operation of the robot: