Study On The Mechanical Design Of A Blue-sheep Inspired Quadruped Robot

With the development process of quadruped robots,the styles of quadruped robots go prosperous due to different research purposes.However,the research direction in quadruped robotics is gradually developing toward lightweighted,modular,intelligent,and highly adaptable robot.Quadruped robots with forementioned characteristics have been applied in various fields such as housekeeping,rescue,exploration,etc.A number of excellent quadruped robots have also emerged at home and abroad.In order to meet the demand,this paper takes the blue sheep,a typical animal with good environmental interactive characteristics(excellent ability of climbing and balancing movement)in steep mountainal terrain,as the bionic prototype.By analyzing the special physiological structure,material and mechanism characteristics of blue sheep,it organically combines the biological morphology,the local structural characteristics and the overall motion pattern.A bionic robot system with subversive technical characteristics is developed.Based on the theoretical modeling of blue sheep's steep mountain walking and balancing movement ability,this paper studies the physiological structure principle and movement mechanism of ultra strong clinging and balancing walking ability,analyzes its control mode of motion behavior,and optimizes the design of walking,driving and control system of bionic motion mechanism,to develop a bionic robot which is suitable for the high controllable and strong movement ability of rugged steep mountainous terrain more flexible and autonomous to adapt to the complex mountainous environment of our border.This will provide a good platform for frontier work or field reconnaissance in the future,and avoid the loss of manpower and the improvement of work efficiency.In addition,through the research,imitating the movement mechanism and body structure of the blue sheep,optimize the design and manufacture of the bionic mechanism,which is also of great significance to the future research work.The specific works of this article are as follows:(1)This paper investigates the physiological characteristics of blue sheep and the previous design experience of quadroped robot,sums up the structure and movement characteristics better for complex terrains,and provides the necessary structural parameters and design basis for the latter design.(2)The design of the machine body of bionic blue sheep robot,including the robot trunk design,the design of the hip shock absorber mechanism,the three joints open chain leg structure design,the motor design,the whole design aims to a lightweighted,modular robot.(3)Based on the design of the robot leg structure,the D-H kinematics is modeled,and the model is solved by forward kinematics and inverse kinematics.The relationship between the joint variable and the end node is constructed,which provides the basis for the subsequent motion control.(4)In the Adams simulational environment,the dynamic simulation of the whole machine was carried out,the walking gait was realized,the motion feasibility of the design mechanism is verified,the key parameters of each joint in the cycle are obtained,and then the structure of the design is checked and optimized according to the simulation results.We have conducted a deep mechanism research,and based on this,the whole machanism design has also been verified through dynamic simulation.In this paper,the motion mechanism of the bionic object is demonsrated comprehensively,and the design of the machine based on the simulation verifies the feasibility.