Modeling and Simulation of Human Oriented Robots

In present work a development of the passive approach is made to design of human oriented robots. Model of robots with controllable compliance modules on the base and cable transmissions is developed that creates a natural security in the interaction with human. In the paper computer model of 4R robot is developed and simulated using Solid Dynamics 2004+ program software. Computer simulations of the robot compliance behavior are carried out. Influence of the compliance on the position control and on the motor torques is been evaluated when changing based mechanical characteristics. The results obtained from calculation of the mechanical parameters are also illustrated graphically. A model with animation of motion is obtained.