Bionic Design And Research On The Quadruped Robot Foot

As the foot robot has great adaptive capability for complex unstructured environment, it hasimportant role in modern society. But it’s lack of theoretical guidance about design of structuraland carrying capacity for robot foot currently. In order to provide a new design idea for theresearch of robot foot, a new type of robot foot with Petal-type structure based on the bionic objectof locust was designed and optimally analyzed. Furthermore, the structure of robot foot underspecific condition was designed, and the results show that the structure has great grip performanceand carrying capacity.According to structural characteristics and material properties of locust’s pads, a new kind ofbionic robot foot with Petal-type structure was designed with the soft of Pro/E，and its contactmechanics and grip performance was analyzed using finite element method. At the same time，thesample of bionic robot foot was made using rapid prototyping method and traditional manufacturemethod, and the tribological properties of the sample were tested with CETR to verify thereliability of finite element analysis results. On this basis, an optimum design of the robot footstructure was performed. The results demonstrated that this kind of the Petal-type robot foot hasgreat grip performance, and with a certain carrying capacity guarantee, the fewer the numbersof petal structure, the better the grip performance of the robot foot.To increase the grip performance of robot foot further, the array pattern structure of humanshape was made in the bottom of foot, and the size parameters of robot foot were determinedbased on the design requirement. At the same time, corresponding analysis and experimental testwere operated. The results showed that the structure can well meet the actual demand.