| The quadruped robot is an important branch of the legged robot and it is a research focus ofadvanced robot. The quadruped robot can walk on the unstructured environments in a static walk wayor walk high-speedly in a dynamic walk way by selecting the suitable landing point. it reflects goodadaptability for the ground. Based on this characteristic, The quadruped robot has a wide developmentprospect on the field operations,military applications,entertainment,science and education. To carryout this research have a big social significance.Firstly, both the foreign and domestic status of research on quadruped robot was introduced andanalyzed in detail. Then the theory of structural design for walking robot was discussed. Based on thestudy of the legged animals, the quadruped robot’s structure design and technical features weredescribed. The forward and reverse kinematics of the joint mechanism of the robot’s leg was analyzed.The kinematics equations of3-DOF robot arm were derived. Quadruped robot with hydraulic drivehave the complex relationship between the characteristics of transmission, so a method in the gaitplanning with MSC.ADAMS was proposed, a diagonal and triangular gait were planned to realize thestabilize movement of the robot. The virtual prototype of the robot was built in the MSC.ADAMS andgait simulation was completed. The simulation results indicate that the gait planning and structuredesign are reasonable,and results provide references for the selection of hydraulic cylinder and engine.Gait parameters of the robot are researched. Take the research of two different foot tracks, thecombination of cycloid and offset oval. Through the simulation, different dynamics feature indifferent foot tracks are compared. Take gait simulation with different gait cycle, leg step amplitude.Gait parameters for the stability of the robot movement are analyzed. Compared to the motioncharacteristics in different paces and gait cycles. The Lagrangian dynamics equation of robot isestablished. The robot’s energy consumption during the motion are analyzed. Lay the foundation foroptimize the robot dynamic performance of the overall athletic ability. |
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