| According to the present research and development trend of Multilegged walking robots, a hydraulic-driving quadruped walking robot was presented in the paper. The paper mainly completed the structural design and optimization of walking robot, also realized the kinematics and dynamics analysis of walking robot, finally, carried out the simulation of virtual prototype.Since quadruped walking robot has complex structure, the mechanical structure was designed by functional bionic method and structural bionic method on the basis of conducting experiments of observing various reptiles such as insects, in which, mechanism structure and gait of reptiles were fully understand. The main work of this paper contains: The mechanism form of leg module, leg-body-leg module, the rotating angle planning of joints, the length of every part of walking robot's leg, the number and distribution form of legs were discussed respectively in design of mechanical system of quadruped walking robot, where, the length of every parts of leg mechanism was analyzed particularly. The influence of length on walking mechanism was illuminated from four different aspects: the velocity of movement, the capacity overcoming the obstacle, the workspace of the foot and the flexibility of walking robot, at the same time, analyzed the relation between structural design of body and stability of walking robot and the angle planning of joints, whereafter, extract the characteristic parameters, provide the design method and find out the reasonable mechanism parameters after optimization. The kinematics model of the mechanism is analyzed, at the same time, the kinematics formula is founded to get the positive solution and reserve solution, thus the relation between the space of joint and the space of manipulation can be confirmed. Finally, dynamics simulation of the virtual prototype was realized, which can find out the problem and solution about the structural design. |
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