Research On The Multi-joint Of Quadruped Robot System

For the application requirements of small construction equipment with high mobility, this article designs a multi-joint quadruped robot with two locomotion modes of legged and wheeled, which can realize remote control. On the construction design, dynamic analysis and the development of prototype controller, this paper does some works as follows:1) Studies on the body structure of dog, which is a four-legged mammal, designs a small quadruped robot with a 3d modeling software named Solidworks. This robot combines the legs and wheels together,and has 12 degrees of freedom. It can switch between legged robot and wheeled robot freely for different environments, and pass through the complex terrain easily.2) Studies on the gait of four-legged mammal, does some gait plannings and analysis of dynamic and kinematic with Adams. The simulation results show that the robot can move continuously and stably. It turns out that the design can meet the requirements. The results can also provide a basis for the selection of motors.3) Designs the hardware circuit of the control system. With the idea of object-oriented management,the control system consists of one master-chip and two pieces of slaver-chip. The master-chip is responsible for the timing control of the whole system, and the slaver-chip is in charge of the drive and control of motors and sensors. This robot using the HuiSheng MG995 steering gears to drive the joints of legs, and servo motors to drive the wheels on the toes, which is assembled with a DC motor and an encoder. With a motion processing component MPU6050, the robot can transmit the information of its position and orientation to the master-chip in real time for controlling. It can also transmit the environmental conditions surround it to the monitoring client on PC lively. The controller integrates the ultrasonic, Bluetooth, color sensor, contact switch and realizes the automatic tracking, obstacle avoidance and other functions.4) This article also develops the programming on board, and gives the software flues and some key codes.From the motion simulations and experiment tests, the quadruped robot can move stably as respect and realize the functions well. The results proves that the overall design is correct and feasible.