The Dynamic Analysis And Simulation On A Type Of Quadruped Robot

The quadruped robot, which has advantages of good surrounding adaptability and high move ability, is applied widely. But at present the research of quadruped robot is condition by its slow speed,low ability and lacking stability etc. To research a kind of quadruped robot that can move steadily high speed, these thesis research into the simulation and dynamics analysis of quadruped robot. The main research contents in this thesis include following four parts:1. The log of quadruped robot simplified structure dynamics model are established. Kinematics analysis of the model by simulation is done. Discussing kinematics performance of the en-d of log,rod and joint in the model. Also research of singularity,freedom,redundant constraint of the model.2.To differential-algebraic equations(DAE) of the mathematical model, commonly numerical method of it is: Direct Approach,Constraint Violation Stabilization;,Generalized Coordina-Partitioning(GCP),Singular Vector Decomposition, The thesis study the principle and dedutection of the four method, compare for the four method based on the model.3. Based on GCP method, after simulation, analysis of the model in dynamics and kinetic and study force of contract and energy analysis. Research of simulation and impacts between the quadruped robot and ground based on Adams.These thesis indicated that comparable with each other in the four method of DAE, the method of Generalized Coordinate Partitioning is the suitable of the quadruped robot for constraint viola-tion of its is the smallest and the result of its is accuracy. Compare with the others joint in the model, the more loaded of the model is on Joint-2 and Joint-5, so the tow joint are the key joint on transmission of force and energy.The point of the research is at arithmetic analysis of DAE equation,the Quadruped Robot mathematics model and its performance analysis of kinetics dynamics. The result of the research is significant in improving model's performance,stability and agility ,It contributed to do further research on the development and method of the Quadruped Robot.