The Kinematics Research And Dynamics Analysis Of Cam-driven Mechanical Horse

Robotic technology and system since the 1960s, after years of development has made substantial progress and results. Robot forms of exercise is diversified, the main movement pattern are:wheeled, tracked, and foot type. Among them, the obstacle-climbing capability of wheeled and tracked robot are relatively weak in the motion process, and can not fully achieve the flexibility of movement and stability. Walking robot has a strong bearing capacity, mobility and ability to adapt to specific terrain, in many industries with a wide range of applications. To this end, walking robot in the robotics research has become a compelling area of research.The general characteristics of walking robots is not only on flat ground, but also in the processes walk on uneven pavement, the more drainage ditch to cross, even up and down stairs, with wide application. However, it is difficult to control not fall completely and achieve these requirements. Walking robot can be traced back to the history of the famous Three Kingdoms period of China's military strategist, Zhuge Liang invented by politicians without power and can automatically transport of military material "wood flow cattle."Currently,, the development of walking robots isoften developed in the laboratory, Really used in actual life and engineering application still need higher engineering cost and long development cycle, In this case, the development of economic and practical walking robot is very important.This paper analyzes the structure and motion of the original ecological "horse" Presents a structure design of mechanical horse,hinged parallelogram frame to facilitate the process of adjusting mechanical horse's body in the center of the road, to ensure that the body center of gravity over the three foot support points of a triangle formed, ensure the process of moving the mechanical horse stable; planar linkage bionic mechanical horse in the leg as a structure can improve the mechanical horse's stride ability so that mechanical horse, compact structure, strong ability to adapt to the environment; Cam-driven walking mechanism, to achieve the established movements; steering wheel body with functional stability, turn left and right movement. Through the mechanical horse and dynamics analysis of structural optimization, and software used to establish four-legged robot ADAMS virtual prototype simulation results of the analysis. Ultimately achieving structural optimization, functional, reliable, economical and practical design goals.