Research On Mechanism Design Of Quadruped Robot

Quadruped robot with its load capacity, high stability and strong adaptability to theground, which can be applied to many different fields such as disaster relief, demining,adventure and entertainment as well as the military side, so get the attention from experts andscholars at home and abroad. However, the following problems are existed in quadruped robotmechanism design:1.Due to the complicated control system caused by a large number of DOFs, itsreliability and load capability in terrain could be limited.2. Rigid mechanical structure can not satisfy the requirements for achieving theseadvanced motion capabilities, it shows a low performance in walking stability.In this paper, a novel compliant quadruped robot mechanism was proposed which has alow DOF leg mechanism. Single DOF leg mechanism has a simple control system, so it hasstronger reliability and anti-jam capabilities; compliant components can improve the walkingstabilityand coordination of robots. This paper is organized as follows.1.According to the research on various leg mechanisms, combined with the motionanalysis of pole structures, this paper proposed a leg mechanism which is composed of aChebyshev four-bar linkage and a pantograph mechanism. This paper conducted a dynamicscalculations and a kinematics calculations, then put it in simulation environment SAM whichwas conducted a simulation analysis to verify the foot trajectory. This single DOF legmechanism, with large capacity, compact structure and strong ability of over-obstacle, issuitable for robot design.2.Based on pseudo-rigid-body-model (PRBM), proposed a complaint waist, design aflexible spine with variable cross-section stiffness and an arc elastic leg, calculate andanalysis each complaint parameters.Conducted finite component analysis (FEA) for thesecomplaint components by using Algor Simulationfor to obtaining the each stress and thedisplacement cloud, checked each components’ strength and stiffness.3.Refereneing to the leg mechanism design and complaint component geometryparameners, the3D quadruped robot viriual prototypes was builted in ADAMS platform. Acomparative simulations between the complaint robot and rigid mechanical structure robotwas accomplished, verified the complaint robot has a better performance in the walkingstabilityand coordination 4. Test the proposed quadruped robot performance, optimize select the server motor andprocessing materials, accomplished the designed prototype entity processing and assembly.Finally, the feasibility of leg mechanisms and complaint component was verified by means ofwalking test, laid some foundation for quadruped robot research.