Design And Realization Of A Four-bar Driven Bionic Leg With Low Inertia

Legged robot is expected to replace human working in the harsh natural environmentwith its excellent adaptability to complex terrain. As one of the most important part of thebionic robots, quadruped robot has become a hot research field due to its diverse gait, highenvironmental adaptability. In this paper, a goal is set to develop a running quadruped robot,and a study on four-bar driven bionic legs with low inertia is carried out.From the study of the physiological characteristics of the cheetah, indicators of roboticbionic leg’s performance are presented, and two overall design principles are proposed. Thenthe overall design of the robotic bionic leg is specified.The mechanical arrangement of bionic robot leg is first determined. Then comes thediscussion of the mathematical model of the crank rocker mechanism. A method to optimizethe design parameters of the crank rocker mechanism is found and the optimal parameters aregot. The motor and gear selection is calculated, and then the mechanical design of the entirerobot bionic leg is completed.The control system hardware and software platform solutions are determined, and sensorselection is completed. The agreement between the CAN bus and CANopen and the servomotor is developed, and finally, drive programs is wrote for the hardware drivers.Finally the robot bionic leg mechanical structure and control system platform is built,and the prototype bionic legs is manufactured and assembled. The debugging of the speedloop, position loop for the servo motor is accomplished, and the motion of the bionic legsystem is achieved.