| Current research of quadruped robot is mostly in the experimental stage. There are still many problems, especially during walking, robot foot to instantly generates a huge impact, which will cause the body to reduce the accuracy and affect the motion stability and longevity of robot. Using the flexible bionic driving manner can reduce the impact force of the robot foot touchdown process and improve the adaptability of the robot. Supported by Outstanding Youth Fund of Education Department of Hebei Province(No. YQ2014027)and Outstanding Youth Innovation Fund Project of Hebei University of Technology(No. 2013004), leg mechanism of quadruped robot and flexible joint are reached.The main research contents and innovative results are as follows:1. From the perspective of bionics, animal joint flexible generating mechanism is analyzed, and based on this a rotary series elastic actuator drive structure is proposed. The flexible joint is designed in detail. Combined with MATLAB and ADAMS, stiffness characteristics, mechanical properties, and energy characteristics etc. are simulation analyzed.2. Quadruped animal skeletal structure is analyzed, and leg mechanism for quadruped robot is put forward. Based on the mechanism, kinematics is analyzed. The kinematics model is established, and the kinematics positive and inverse solution and the Jacobian matrix are solved. Work space of quadruped robot is analyzed, and the proposed structure of quadruped robot is verified rationality. The force of key parts of the quadruped robot is analyzed to ensure the service life of the parts.3. The leg mechanical system and control system prototype of the quadruped robot is established. Quadruped robot single leg and flexible joint experiments are carried out respectively, and combined with simulation results the leg mechanism rationality for quadruped robot and joint simulation accuracy are verified. |
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