Design And Simulation Of A Bionic Cheetah Robot With Elastic Body

The research on biomimetic robots become more and more attention by people, especially the quadruped biomimetic robots. This paper which in order to improve bionic cheetah robot movement speed and flexibility as the goal, the study of quadruped biomimetic robots at high speed under the movement gait presence of elastic body joints affect the performance of its movement. As well as the design of bionic cheetah robot application of virtual prototyping technology to run its motion simulation analysis.First, read a large number of various domestic and foreign literature about quadruped bionic robot, Listed respectively the bionic robot main research content and direction. It found that the traditional bionic quadruped robot designed mainly concentrated in the leg joints designed to simplify the design of their spinal joints rigid objects. Whereby the proposed bionic cheetah robot model design ideas for Flexible trunk joint, and use three-dimensional modeling software Pro / E to establish three-dimensional model of bionic cheetah robot.Secondly, established the running cheetah robot motion mathematical model,and Analysis of its running gait of the four-phase movement kinematics and dynamics. Cheetah robot motion equations are listed in four motion phase. Using Poincare mapping method for cheetah robot torso stability with elastic joint research.Finally, through the virtual prototype technology of elastic body compared with the rigid body model simulation analysis, As well as the simulation analysis about mechanical forelegs and hind legs and integral bionic cheetah robot jump running. Concluded: bionic cheetah robot with elastic joints trunk running jump its improved performance, higher jump height, low energy consumption and faster motion and so on.