Gait Design And Kinematics Simulated Analysis Of Quadruped Robot

With the progress of technology and social development needs,the robot industry has been developed rapidly.Meanwhile Robotics is widely used in industrial production and social life.The legged robot,especially the quadruped robot,has become a hot research topic in the world.This paper referred to many different design schemes and combined with the existing experimental condition of the laboratory and,through it,determined a framework with 12 degrees of freedom from two kinds of design schemes of Quadruped Robot with their advantages and disadvantages.Then,the stability analysis and kinematics analysis of quadruped robot KXRR are carried out,which established the equation of the foot end of the quadruped robot KXRR in the space coordinate system and completed the forward and inverse solution of kinematics.Then selected and determined D-value points by using the cubic polynomial method,thereby,the trajectory optimization design is carried out.Ultimately,complete the trajectory planning and gait analysis of the work.Next,the3 D model is built by using the SolidWorks2013 software.Afterwards,the quadruped robot KXRR in motion process is simulated with ADAMS2012.Through the simulation,the kinematics data of KXRR,such as velocity,acceleration and displacement,are analyzed.Thereupon then,the design is verified.In this design,the use of cubic polynomial method obtained the D-value point,to some extent,solved the problem that the distance between adjacent points in the traditional interpolation method is not consistent.Also,the distance between adjacent points is less affected by the curvature of the designed trajectory curve.Thereupon then the quadruped robot can maintain stability when it moves in some cliffy and complex terrains.A series of important experimental data is obtained through the simulation analysis,and the rationality of the design is verified which provides valuable experimental data for subsequent research.