The Research Of Elastic Joint Quadruped Walking Robot Pose Compensation Method

With the development of science and social progress, robots play increasingly importantrole in human life, the development of foot robot has been paid more and more attention inthe field robotics. In this paper, based on the fact that the traditional robot do not have goodbuffer action to the impact, we design new flexible joints walking robot and do in-depthanalysis and discussion about its structural design,kinematics analysis, the stiffness of thefoot end,the foot end of the reaction force and other aspects, this paper studies thecompensation method of the body pose error which results from the angle changes of theelastic joint, the method which we get through theoretical analysis and simulation studycompensates the body pose error.Firstly, this paper make a brief overview about the domestic multi-legged walking robotand the results at this stage, and make a brief overview about the walking robot errorcompensation and foot end anti-force distribution problem at home and abroad. Thetraditional robot does not have good buffer action to the impact, this paper designs the newflexible joints walking robot, including motor choice, drive mode selection, flexible jointsLeg Design and the finite element analysis of the key parts of spiral elastic drive, finallycomplete the manufacture of the prototype.Secondly, on the basis of the structural design, this paper applies the robotics theory insolving the Forward and Inverse, Jacobian matrix of the quadruped walking robot kinematicselastic leg and simplifies a single leg structure, uses Matlab/Simulink SimMechanicsmechanical simulation module emulation to solve the space of up to the foot end,lies thefoundation for the below stiffness matrix and the foot end reaction force.Then, this paper combines the kinematics and dynamics model of the quadrupedwalking robot elastic joints,studies the solving method of the foot end stiffness matrix and thefoot end reachable space distribution; in addition, the force distribution of the foot end basedon the stiffness matrix has been studied, establishes the model for the theoretical analysis andderivation. To ensure that the walking robot under external force as much as possible tomaintain the original position and oriention, according to the obtained foot end of thereaction force and the stiffness of the foot end,this paper analyses the elastic joint anglechanges and pre-compensates the joint angle and draws the method of joint anglecompensation through theoretical derivation.Finally, this paper applies ADAMS simulation software in the virtual simulation of the elastic joint four-legged walking robot and verify the correctness and feasibility of thereaction force of the foot end,stiffness matrix as well as the compensation method of walkingrobot body pose error from the point of view of the simulation.