Structural Design And Simulation Optimization Of Quadruped Robot

In contrast to wheeled robots,legged robots are able to walk in bad terrain because of their flexibility.Quadruped robotare superior to biped robots in terms of stability.The structural and control complexity is simpler than the six-legged and eight-legged robot.So the Quadruped robot's athletic performance is superior to other multi-foot robots.The world's most famous quadruped robot is the BigDog developed by Boston Dynamics.The motion characteristics of the quadruped robot are mainly determined by the mechanical structure and The stability of the mechanical structure also determines the quality of the study of the quadruped robot follow-up work.The current bionic quadruped robot structure is very much,but there is no systematic mechanical structure,the drive unit to do a detailed discussion.Based on the characteristics of quadratic limb structure and bionics,this paper gives a detailed overview of the overall structure design,kinematics analysis,joint design and optimization of the drive unit.Focusing on the mechanical structure from the four-foot robot design.First of all,based on the principle of bionics and mechanical structure design,once again based on the analysis of the existing four-foot robot's many institutional features.the design of a full-knee multi-degree of freedom of the bionic four-foot body.The use of pro/E software on the virtual prototype to do a detailed structural design,including the overall support,leg structure,the choice of standard parts,the establishment of three-dimensional virtual prototype model.The motion and dynamic equations of four-legged robot are analyzed and deduced.And the relationship between the joint angle variable and the output displacement variable is deduced.Based on Adams simulation,important data such as joint rotation angle,velocity,centroid change and joint driving force are obtained.Completed the optimization of the key components of the robot,and based on the design of the four-legged robot modular leg-like institutions,saving space and reduce the overall quality.Finally,the processing of the leg structure of the various components,integrated airborne power system,integrated 12 degrees of freedom,including 8 active degrees of freedom and 4 passive degrees of freedom of the experimental prototype,equipped with a 12-axis control system,The integrated experimental prototype does the gait test to verify the feasibility of the designed mechanical structure.