The Design Of Plane-moving-joints Quadruped Robot Structure And Study On The Walking Method

Robot technology focuses on the latest scientific research,including mechanical engineering,electronic engineering, communications engineering, automatic control engineering and artificial intelligence engineering, etc,and represents a country's level of high technology and industrial automation. Walking robot is one of the hottest field in robotics research. Now the walking robot is facing the major problems that the robot cannot walk through rough terrain as easy as people and other animals. By designing and analysing a planar quadruped robot, this paper study on the issue of the walking robot walk on rough terrain to some extent. specific tasks are as follows:First of all, this paper analyzed and discussed the structural characteristics and control methods of the typical quadruped bionic robot at home and abroad, also summarized the basic theory of robot development process. The paper ues a new walking method calling Desired Landing Points (DLP) that was supposed buy Mahongwen.,and the paper illustrate the principle and the implementation method.Secondly, the paper designs a quadruped robot for verifying the planar quadruped bionic robot's DLP methods. The entire robot structure consists of a trunk and four legs whicht are identical structures,and only has eight degrees of freedom so that it can be along the horizontal and vertical movement, then horizontal movement curve and vertical movement curve can fit the motion trace of the leg. In addition, the jointed quadruped bionic robot's overall control system scheme is designed.Thirdly, the paper makes some simulations for the jointed quadruped bionic robot by using software. ADAMS and Matlab/Simulink simulate the movement of the jointed quadruped bionic robot's virtual prototype for verifying the feasibility and validity of the Desired Landing Points (DLP) walking method. The robot can walk stably and smoothly on plain terrain and on rough terrain. Finally, useing dSPACE the paper simulate the motion trace of the jointed quadruped bionic robot's single leg,including toe position and trace tracking, verifies the feasibility and validity of the mechanical structure. And at last the paper fits out the motion trace of the leg.