Hi,
Let me show you my knowledge of designing your legged humanoid robot.
To prevent distortion, the robot's mechanical structure needs to be extremely strong and rigid, while also maintaining a light overall weight. All heavily loaded components are analysed using the finite element method (FEA and FEM), and the loads acting on them are determined using the robot's multibody simulation.
The use of reduction gears, such as a combination of helical gears or herringbone gears, is necessary to achieve high torques while maintaining a small size and weight. In addition to the desired torque capacity, compact dimensions and low weight, as well as good dynamic performance and a sufficient torsional stiffness, are the most crucial selection criteria.
Nearly all humanoid robots are designed with 6-DoF legs— 3 DoF in the hip, one in the knee and two in the ankle. An additional link between forefoot and heel needs to be introduced, equivalent to the human toes.
I am a Mechanical design Engineer by profession having an experince of 3 years of using Solidworks for designing Exoskeleton for companies like Exoskeleton and Salient [login to view URL] visit my portfolio to see some of my works and if you want to see mnore please visit [login to view URL] to all of my designs.
If my experince and expertise meets your requirements, we can talk further more about the projects.
Thanks,
Manish Kumar Jha.