Gait Co-simulation And Test Study For The Full Knee Quadruped Robot

With the rapid development of robot technology,robotics applications continue to expand,and its performance has been rising.Compared to the wheeled robot and crawler robots,legged robot has a stronger environmental adaptability,flexibility and carrying capacity.It also has good prospects for use in engineering exploration,agricultural production and other fields.Among them,the quadruped robot avoids the redundant and complex structure of six-legged and eight-legged robot;there are more than two-legged robot with a load bearing capacity and stability,making it the focus of research in the field of robotics.Quadruped robot athletic ability mainly depends on its mechanical structure,drive and control strategies.By simplifying the structure of bones and joints of-the cheetah,this paper identifies the leg of the quadruped robot consists of three segments,while establishing a three-dimensional model,and completed the forward kinematics,inverse kinematics and dynamics analysis.Simplified physical model of quadruped robot was built to trot gait and walk gait co-simulation in Adams and Matlab/Simulink.Finally produced a quadruped robot prototype,rationality leg design and correct gaits were verified.The main contents are as follows:1.By simplifying the structure of bones and joints of the cheetah,this paper identifies the leg of the quadruped robot consists of three segments.That leg has two degrees of freedom,namely rotation of the hip and knee.The kinematic equation was established by the D-H method.Next,complete the analysis of forward kinematics and inverse kinematics of the quadruped robot,and get the transformation matrix from the body to the foot end.By calculating the leg kinetic and potential energy,kinetic equations are established using Lagrangian method,thereby providing a basis for the production of physical prototypes.2.Using Creo to establish a simplified physical model of quadruped robot,and import it into Adams completed parameter setting and definitions.Import the model into Matlab/Simulink completed corresponding control system design and the S-flunction write.Finally completed trot gait and walk gait co-simulation in Adams and Matlab/Simulink.By analyzing the obtained quadruped robot center of gravity fluctuation curve and joint driving torque curve,can provide the basis for later choose servo model.3.A physical prototype is made based on the design of the quadruped robot model.By controlling the steering angle of the servo,the quadruped robot can walk stably with the trot gait in different roughness of the ground.Experimental results show that the structure of the leg design is reasonable,written gait function is correct,shows the feasibility and correctness of the overall program.