Imitation Cow Gait Of Quadruped Robot Leg Hoof And Flexible Joints

Quadruped robot is a kind of typical robot. Compared with the wheeled and tracked robot, has better flexibility and ability to adapt to the complex topography, the research has important scientific significance and practical application value. In order to achieve in the mountain, mud, swamp and other complex dough on the road and transportation of materials, this paper to be used in soft ground imitate cattle gait design for the leg foot part of the robot, in order to achieve the robot can in soft ground sustained and stable walking ability, and virtual prototype simulation analysis.Firstly, based on the analysis and summary of hopping robot and quadruped robot at home and abroad, we pointed out the limitation of the traditional typical quadruped robot leg structure, and put forward new bionic legs system favors the quadruped robot walking on the soft ground. For quadruped robot jogging and walking gait to simplify the model and according to the characteristics of the bracket that leg design mathematical model.On this basis, the bionic quadruped robot bracket and hoof was designed, and compared with the traditional beef. According to the characteristics of bovine walking in the paddy fields, this paper for the cow's body structure and movement pattern s were studied and the legs and joints of the structure were analyzed. Meanwhile,according to the existing research on the kinematics of the leg, the simplified mathematical model is analyzed, which provides the reference for the design of the four groups of robots that can walk on the soft ground.Through the low modular analysis and Simulation of the bionic leg, we get the basis of the lower complexity of the components to design the bionic legs.And based on the characteristics of cow and cloven hooves whi ch cow is analyzed in soft ground environment for the continued stable walking play the role of the bionic robot, then establish the bionic robot feet and the ground stress role model, and analyze the stress function in the process of normal stress and tan gential stress and the change of torque.Finally, the ADAMS software and ABAQUS software establish to imitate cattle biped robot in flexible ground gait motion of virtual simulation model, through the mechanical legs in air gait simulation, and two differe nt foot in the simulation of soft ground. The imitation hoof foot can produce more torque, then the robot moves forward in the sustained and stable soft ground.