The Simulation Of Quadruped Robot Based On MATLAB And ADAMS

In recent years, wheeled robots have get widely used and developed because of its advantages. But they also have some disadvantages, for example, on rough ground, they obviously can’t be compared with the quadruped robots. The four-legged quadruped robots can move quickly and smoothly on rough ground and have superior carrying capacity. The quadruped robots play an important role in earthquake relief work and military area.When we research the quadruped robots, because of the complicated structure, to avoid the waste of money and time, we do the simulation first. In this paper, I design the simplified model, analyze the forward kinematics and inverse kinematics, use ADAMS and MATLAB to do coordinated simulation of trot and walk gait. The details are as follows:(1)Read the references, state the background and meaning of the study of quadruped robot, analyze the overseas and domestic research status.(2) The structure of quadruped robot that I designed is elbow joints for front legs and knee joints for back legs. A single leg has two active degrees of freedom as knee joint and hip joint rolling degree of freedom. Meantime, design the calf as elastic calf which has one passive degree of freedom. Use the D-H method, build coordinate systems on all parts of quadruped robot, and define other parameters. Complete the analysis of forward kinematics and inverse kinematics of the quadruped robot, get the transformation matrix between the body and the foot coordinate system. Use the transformation matrix to get the speed and acceleration of the leg.(3) use PRO/E to build the three dimensional model, then complete the definition and setting of parameters of the quadruped robot model in ADAMS. In MATLAB/SIMULINK, complete the design of the control system. Use ADAMS and MATLAB to do the coordinated simulation of trot gait of the quadruped robot model. Analyze the simulation result; verify the rationality of the structure of the quadruped robot model. By setting different flexing angles and moving period of the hip joints, get the best flexing angles and move period of the trot gait movement.(4) Modify the control system in MATLAB/SIMULINK, to do coordinated simulation of walk gait and analyze the simulation result. By setting different flexing angles and moving period of the hip joints, get the best flexing angles and best move period of walk gait movement.