The Gait Simulation Of Quadruped Robot With Elbow Joint For Front Legs And Knee Joint For Back Legs

In recent years, because of the complexity of the ground and the risk of the environment, robots are gradually replacing human to perform some complex or dangerous task especially in the field of adventure, disaster relief and the military. With the development of the robots technology, the quadruped robot which belongs to the legged robot has advantages on the aspects of adaptability to the environment and the stability of motion, the research on the quadruped robot has gradually become an important field.The structure of the quadruped robot is very complex, in order to overcome the shortcomings such as the long cycle, the large cost, the low efficiency and low reliability in the traditional mechanical physical experiment method to do the research of robot, the virtual prototype technology and ADAMS software are used to do the simulation research of the quadruped robot with elbow joint for front legs and knee joint for back legs. The contents are in the following:1、The background and the significance of the research of the quadruped robot is summarized, and then the current research situation and the development trend of quadruped robot both in domestic and abroad is analyzed.2、Using the D-H method, the motion reference coordinate system of the quadruped robot with elbow joint for front legs and knee joint for back legs is built. Later the kinematic analysis and the inverse kinematic analysis of the robot are done. We can get the kinematic equation and the Jacobi matrix of the quadruped robot. The multi-rigid body dynamics model of the robot is built. We can do the dynamics analysis of the robot by using of the Newton-Euler method and the Lagrange Work-energy balance method respectively. Then we get the dynamics equation of the robot and this can provide theoretical basis for the simulation analysis.3、Using Pro/E software,the three-dimensional entity model of the quadruped robot with elbow joint for front legs and knee joint for back legs is built. Put this model into ADAMS/View platform. On the ADAMS/View platform, we do the trot gait simulation of the quadruped robot. Through the simulation and analysis, we can test the feasibility of the design.4、The characteristics of the walk gait is analyzed, the drive function of every hip joint and knee joint is designed, then we do the walk gait simulation of the quadruped robot on the ADAMS/View platform. By the comparison and analysis, we can obtain that the appropriate step length and movement cycle is needed to guarantee the stable walk moving of the quadruped robot.5、The characteristics of the movement of the quadruped robot is analyzed when it is sloping up and down. According to the change of the ground environment, the drive function can be adjusted. Then we do the simulation of the quadruped robot trotting on10°slope. The simulation results indicate that the quadruped robot can slope up and down steadily according to the requirements.