The Kinematics Analysis And Simulation Research Of Quadruped Robot

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’s gait of walking along straight lines with virtual prototypes. The main research content in this thesis includes:1. The design plan and research significance of quadruped robot in this thesis are put forward. Current research situation and development trend of quadruped robot both in domestic and abroad are briefly introduced.2. Based on the bionics, the body structure of horse is analysed, especially the leg. Selecting the walking gait as analysis purpose and based on the maximal stability margin selecting’leg1-leg4-leg2-leg3’as quadruped robot’s carried leg order, the gait figure is drew. In later chapter the trajectories of the legs is planed.3. The kinematics model of this quadruped robot is established. The kinematic analysis is investigated with the method of D-H and the kinematic equation, inverse kinematic equation of the quadruped robot are presented; the dynamic analysis is also investigated after the dynamic model is built, then Lagrange dynamic equation group for simplified-structure of the quadruped robot is educed. It offers theoretical foundation for the following simulation analysis based on virtual prototype.4. Referencing to the actual geometry parrameters and physical characteristics of quadruped robot, the3D entity model of the quadruped robot is constructed in Pro/E. Then the model is imported into ADAMS platform. Moreover, the simulation model of virtual quadruped robot is established by adopting constraint, drive and force according to the actual situation.5. The kinematics and dynamics simulation of quadruped robot is are investigated in ADAMS using its planned gait, and a series of important data is acquired which verifies the rationality and exactness of design plan as well as provides valuable data information for further research on the quadruped robot.