Kinematics Simulation And Hydraulic System Design Of Bionic Hydraulic Quadruped Robot

Now, a tendency of research on the bionic hydraulic quadruped robotis goingon in our country and abroad. The result will have an impact on the development ofrelated subject. Using the method of co-simulation, this paper aims to analyze themovement of the bionic hydraulic quadruped robot, knowing and improving thedeficiencies of the robot’s structure.At the same time, it designs the quadruped robot’sairborne hydraulic system and makes the system match with the robot’s mechanicalstructure so that the hydraulic system can provide great power.First, according some extensive research and thinking, this paper derivate thepositive solution and inverse solution on the base of D-H parameter methodto knowthe robot’s moving space. At the same time, this paper properly designs the fixinglocation and stroke displacement of the hydraulic cylinders to make sure the robot canmove at a certain gait; Second, this paper takes the quadruped robot’s kinematics anddynamics simulation according two methods to get some curves such as thedisplacement of the robot’s center of mass, the foot’s trajectory and the hydrauliccylinder’s speed. This can get the robot’s move performance and provide data supportfor the hydraulic system’s integration; Third, this paper makes co-simulation ofmechanical and hydraulic system of quadruped robot based on ADAMS and AMESim.The robot’s dynamic model is built in ADAMS and the robot’s hydraulic and controlsystem modelsare built in AMESim. Using the displacement change of the hydrauliccylinder in the hydraulic system as the driving function of the dynamics model inADAMS, and taking the driving force of the dynamics model as the loads of thehydraulic system in AMESim. This co-simulation can simulate the changes of thehydraulic quadruped robot’s hydraulic systemaccurately when it walks on the realroad conditions; Then this paper has designed the positive pressure closed loop andthus it integrated the quadruped robot’shydraulic pump station; At last, someexperiments of hydraulic cylinders and physical prototypes are made to verify therationality of the robot’s structure and hydraulic system and the result can providesome help to the later research of the bionic hydraulic quadruped robot.