System Design And Dynamics Simulation Of Quadruped Robot Simulating Landing Characteristics Of Falling Cat

In the field of spacecraft landing,fire rescue and other aspects,the problem of saft landing of the robot falling from high altitude is one of the key problems to be solved in the field of professional robotics.To solve this problem,this paper studied the whole process of safe landing of the falling cat from the system point of view,designed a quadruped robot simulating landing characteristics of falling cats,it provides a reference solution to the problem of saft landing of the quadruped robot falling from high altitude,at the same time,it is of great guiding significance to the further research and development of quadruped robot.The subject comes from the project supported by the National Natural Science Foundation of China'Research on the mechanism and realization method of safety drop of robot for simulating landing characteristics of falling cats under arbitrary attitude'.The main work is as follows:1.Based on Kane's bending theory,the principle of falling cat turning was studied,on this basis,the particle swarm optimization algorithm was used to complete the motion planning of automatic turning process of robot and its optimal trajectory was found.2.The soft landing process of the robot was analyzed,the conditions for determining its landing stability were given and the influence of different factors on its landing stability was determined.At the same time,the design and analysis of the main buffer components were carried out.3.The multi-body system model was established and the dynamics simulation was carried out.The simulation results show that the robot meets the design and functional requirements,at the same time,in order to improve the stability of the landing,the landing speed and the ground inclination should be as small as possible,and the contact type should be the complete type.4.A prototype of the robot was developed,and the suspension experiment was carried out.The experimental results show that the prototype realizes automatic turning in the range of error tolerance.