Gait Planning And Research Of Quadruped Robot Based On Virtual Prototype Technology

Compared with other kinds of robots, articulated quadruped robot has more impressive flexibility of locomotion and excellent adaptability to complex environment, which has made it a research hotspot in the field of ing robot. In recent years, developing a kind of high-performance quadruped robot with high dynamics, high environmental adaptability, high locomotion stability, and high payload capacity has been a dominant research direction in the field of bionic robot. The research which based on the available prototype of quadruped robot will focus on gait planning and structural design by using virtual prototype technology in order to increase the movement performance of quadruped robot comprehensively.Firstly, established the kinematics model of quadruped robot’s single leg by using D-H method. Achieved angle variation equation of legs’joints by solving the inverse kinematics equation of quadruped robot in order yo provide theoretical principle for the research on gait planning of quadruped robot and simulation analysis.Then compared the characteristics of two static gait which have different load factor β=5/6 and β=4/5) and analyzed their differences. Proposed a new static gait planning method which embrace the advantages of both traditional static gait mentioned above. Verified the effectiveness of new gait in improving the steadiness of quadruped robot greatly during movement by using various method such like computing stability margin change curve in MATLAB. Researched the trot gait planning of quadruped robot on slope and determined the optimal gesture of quadruped robot in improving the movement performance. Then planned the trajectory equation of foot in order to achieve the movement on slope.Established the co-simulation system composed by ADAMS and MATLAB to verify the effectiveness of results achived in previous research. Then make sure the effectiveness in improving movement performance by analyzing the results of simulation. The variation curve of hydraulic cylinders’displacement, velocity and force could be used as theoretical support for the establishment of hydraulic system.Lastly, analyzed the problems of structural design which were founded in the practical experiments of quadruped robot and then redesigned the critical part and structure which were the main causes for the problems. The new structure designed by author solve the current problems successfully. The movement performance of quadruped robot was also testified by conducting various experiments.