Motion Planning And Control System Design For The Quadruped Parallel Walking Robot

Comparing the parallel robot and the serial robot, the parallel rhas many advantages, such as strong stiffness, compact structure and good dynamic response characteristics. So the parallel robot is better than the serial in some high-load application. In this paper, the 4(2UPS+UP) quadruped parallel walking robot is mainly analyzed, including kinematics and gait. This paper focuses on the design of the DC motor servo motion control system and the construction of the robot control system. At last, through the experiment for single leg mechanism, the servo motion control system is proved to be effective. Through the experiment of tracking the planned gait, the control system of the robot is proved to be effective.Firstly, based on the kinematic analysis of existing, mapping relations between the speed of the reference point on the leg mechanism and the leg branches. The diagonal gait of the robot is planned. The length and speed of each branch is obtained. Through the simulation by ADAMS, it is proved the robot can walk with the planned gait.Secondly, the mathematical model of the DC motor is established, and the relation between the motor speed and system parameters of the motor. So the H-bridge driver circuit is selected. Hardware debugging is completed.Thirdly, based on the three-loop control strategy with speed feedforward, the lower software and the upper debug software system for the motion controller is completed. Through SIMULINK, the three-loop control strategy with speed feedforward is verified.Lastly, through the experiment platform for single leg, the motion controller is proved to be effective through tracking the circle trajectory. the control system for the prototype is constructed, and the upper controlling softerware is designed to relized the coordinated movement,. The experiment of tracking the gait proves the rationality of the gait planning and the effectiveness of the robot control system.