The Dynamics Modeling And Simulation Of Four-legged Walking Robot With Hand-foot-Integrated Function

After nearly half a century development, most of the existing robots still have problemssuch as functionality and maintainability. And multi-legged walking robot is usually as asimple mobile platform, or configures the manipulator to complete a specific job. So theapplications of multi-legged walking robot were limited. In this paper, the problems ofstructural design and dynamics of four-legged robot are researched, which based on theNational Natural Science Foundation named “The configuration and modeling ofmulti-legged bionic robots with the function of hand-foot integrated”.The development of multi-legged robot is reviewed in this paper, and their advantage anddisadvantage are analyzed comparatively. Moreover, the dynamic theory of multi-leggedrobot and manipulator is briefly reviewed.Based on the study of a large number of domestic and international multi-legged walkingrobots, the mechanism of multi-legged walking robots with the function of hand-foot-integrated is proposed. The structure, including frame module, leg module and control module,is designed based on modularization design method. Two typical structures with the functionof hand-foot-integrated are designed. They are clamp manipulator and underactuatedarticulated manipulator, of which performance is analyzed.Four-legged robot is a complex MIMO dynamic system with nonlinearities and couplingrelations. For optimal control, the robot’s dynamics issue is studied in details. The coordinatesof robot’s connecting rod are established by D-H method, and then the kinematic problem isanalyzed. Robot’s dynamic model is established, dynamic equations of the robot’s walkinglegs are deduced, which provides the basis for trajectory planning and motion control.For the especial capabilities of robot’s hand-foot integrated leg, the dynamics issue of theleg at the state of grasp objects is researched. Considering the impact of gravity, the dynamicequation of the leg is established using Newton-Euler approach. Finally, the analysis processis verified through a numerical example.The dynamics characteristics of the four-legged walking robot are simulated by ADAMS.As an example, the dynamics performance of ZQROT-1in the process of capturing objectafter walking the straight gait is analyzed. The parameters of rotate speed, torque, et al can bedirectly achieved, the analysis results can be used to optimize robot structure, plan trajectory and determine its parts parameter.The trajectory planning problem is researched in this paper. Two typical motion law ofrobot is simulated by ADAMS, the results provides reference to reduce robot energyconsumption. The methods of the paper provide reference to solve the similar problem.