Quadruped Robot Based On Virtual Prototyping Technology Simulation Study

The quadruped robot, which has advantages of good surrounding adaptability and high move agility, is applied to a great deal of fields such as rescue realm, mine sweeping, adventure, entertainment, military affairs, etc. So the research on quadruped robot has become very important in robot research area. However, the traditional means, which uses mechanical prototype experimentation to design quadruped robot, not only needs long time, high cost, lots of calculation during design, but also is very poor in its visualization. In order to improve the design efficiency and reliability, this thesis researches into the simulation of quadruped robot with virtual prototypes. The main research contents in this thesis include following four parts:1. Virtual prototype technology as well as current research situation and development trend of quadruped robot both in domestic and abroad are briefly introduced. The design plan and research significance of quadruped robot in this thesis are put forward.2. A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the kinematic equation, inverse kinematic equation and Jacobi matrix of the quadruped robot are presented, and the second kind of Lagrange dynamic equation group for simplified-structure of the quadruped robot's multi-rigid body system is educed. It offers theoretical foundation for the following simulation analysis based on virtual prototype.3. Referencing to the actual geometry parameters and physical characteristics of quadruped robot, the 3D entity model of the quadruped robot is constructed in Solidworks. Then the model is imported into ADAMS platform by a special interface module named ADAMS/Exchange. Moreover, the simulation model of virtual quadruped robot is established by adopting constraint.4. The quadruped robot is simulated in ADAMS using its planned gait, and a series of important results is acquired which verifies the rationality and exactness of design plan and structure design as well as provide valuable data information for...