Virtual Prototype Simulation And Rigid-flexible Doupling Analysis Of Quadruped Robot Based On ADAMS

Compared with wheeled robots, legged robots have strong environmental adaptability and can walk on the irregular terrains. Compared with other legged robots, quadruped robots have great static stability and dynamic stability, and the gait and trajectory planning of the quadruped robots are simpler. As a result, research on quadruped robot is always the hotspot of the scientific research. With the development of the research, the application of the quadruped robots will transform from the onefold military application to the civil science and technology field. Quadruped robots applied to the civil field will have more wonderful business prospects. The thesis is supported by The National Key Technology R&D Program. And the thesis is aimed at the research of the virtual prototype and rigid-flexible coupling analysis of the quadruped robot, and become the reference for the manufacture of the large-scale quadruped robots actuated by hydraumatic.Based on the design of the structure and the analysis of the kinematics and dynamics, the thesis builds the model of rigid virtual prototype and the model of rigid-flexible coupling virtual prototype based on ADAMS and ANSYS. By using the model of the virtual prototype, the thesis is able to finish the rigid simulation analysis and the rigid-flexible coupling simulation analysis.First of all, the thesis analyses the stability of the walk gait and the trot gait of the quadruped robot. According to the theory of stability margin, the thesis plans two kinds of walk gaits, intermittent gait and coordinated gait, and compares the two gaits by simulation and points out their different characteristics and applications. According to the Spring Loaded Inverted Pendulum(SLIP), the thesis puts forward the requirement for the stability of the trot gait and plans the trot gait. And then, the thesis conduct the experiment of the walk gait of the quadruped robot,by using the experimental platform, to validate the stability of the walk gait.Secondly, according to the principle of the zero impact, the thesis plans three trajectories of the quadruped robot, and conducts the virtual prototype simulation of the three trajectories. According to the principle of the optimal power, the thesis choose the optimal trajectory for different gaits.Finally, by using the model of rigid-flexible coupling virtual prototype to conduct the rigid-flexible coupling simulation analysis of the quadruped robot, the thesis obtains the stress and strain of the quadruped robot when it is walking, and validates whether the strength and stiffness fulfil the requirement. And then,the thesis conducts the experiment of measuring the dynamical strain of the quadruped robot, for verifying the validity of the rigid-flexible coupling analysis.