Dynamics And Gait Planning Of High Speed And Heavy Load Walking Robot

At the present stage,emergencies and terrorist activities happen frequently,and they threat to people's lives and safety.Therefore,in the face of unpredictable disaster and rescue work,the research of new mobile robot of high-speed and heavy-load,which can carry out transport supplies and rescue work,become the main research topic of mobile robot.In this paper,a kind of high-speed and heavy-load robot with the leg-wheeled and serial-parallel mechanism(2-UPS+U)&R is presented.The main purpose of this study is to realize the transfer with high speed and heavy load in complex environment.Firstly,according to the requirements of the walking environment and walking speed of the robot,and combining with the bionics principle,this paper presents a kind of the leg-wheeled and serial-parallel leg mechanism and entire machine with inner and outer frame.On this basis,the design objective of robot is put forward.The analysis of the position of the leg mechanism and the robot,which is the base of the following analysis,then the workspace of the leg mechanism is solved.Secondly,based on the workspace and position,the Jacobian matrix of the leg mechanism and the speed of each leg are solved,and the whole machine speed of the robot is analyzed.According to the velocity of each chain of the leg mechanism and the Lagrange equation,the dynamic equations of the leg mechanism are established.Thirdly,the foot trajectory of the robot's leg mechanism is planned,and the foot trajectory in the cases of general and obstacle-navigation are planned.Based on the static stability and dynamic stability of the robot,the gait planning of the high-speed and heavy-load robot is carried out.Finally,based on the kinematics,dynamics,trajectory planning and gait planning of the robot legs and entire machine,the simulation by using software is processed.Then the trajectory planning experiment of prototype is completed,and the correctness of the theory is verified.