Mechanism Design And Dynamics Scale Synthesis Of Bionic Quadruped Robot

In recent years,the research of bionic quadruped robot has become one of the hotspots of robot research.The main reason is that quadruped robots have low requirements for working environment,and they have strong environmental adaptability,mobility,motion stability and load capacity.In this paper,the structure design,kinematics and dynamics of quadruped robot are studied.The size of quadruped robot is optimized based on its foot trajectory to improve the motion performance of quadruped robot.In this paper,bionic dogs are studied in the design of bionic mechanism,kinematics analysis,foot trajectory planning and dynamics modeling of electric-driven quadruped robots.Finally,the comprehensive optimization design of dynamic dimensions of quadruped robots is carried out,and the integration of experimental prototypes is completed.The main contents are as follows(1)Based on the analysis and study of the structure and motion law of typical quadruped mammals,a 12-DOF electro-driven quadruped robot bionic mechanism with uniform and omnidirectional motion ability and fast walking was designed.(2)Taking the trunk of the robot as a fixed coordinate system,the kinematics model of the bionic quadruped robot is established by D-H method.The kinematics of the quadruped robot is analyzed numerically,and the curves of joint angle,joint angular velocity and joint angular acceleration are given when the quadruped robot moves on one leg.(3)Establish the dynamic model of quadruped robot,calculate the relevant dynamic parameters and structural parameters;determine the compound cycloid trajectory as the optimal trajectory,and combine Solid Works Motion and MATLAB to simulate the dynamics of the robot,which provides a theoretical basis for the following dynamic size synthesis.(4)A scale synthesis method based on dynamic level is proposed.Based on the results of rigid body dynamics analysis and trajectory planning of bionic quadruped robot,the performance optimization objective is to minimize the maximum driving moment of thigh and leg joints on the target trajectory.On this basis,a constrained multi-objective programming problem is constructed,and the shortest distance ideal point method is used to transform the multi-objective optimization problem into a single-objective optimization problem.A set of scale parameters which can improve the dynamic performance of quadruped robots are obtained by an example.