Mechanism Design And ADAMS Simulation Of Bionic Robot In Shepherd

Compared with wheeled robots,the quadruped robot has the advantages of flexible action and relatively strong adaptability to the environment,and has always been the research hotspot both at home and abroad..Firstly,the paper reviewed a large number of domestic and foreign literature,reviewed the current domestic and foreign universities and research institutes launched quadruped robot.It found that the driving mode of the current quadruped robot is gradually from the electric machinery to hydraulic drive mode that has advantage of large power with small weight,and the degree of freedom is gradually increased.Despite the existence of bionic quadruped robots,the bionic effect needs to be further improved.According to the anatomical literature of shepherd dog,the skeleton structure of leg of shepherd dog was analyzed,and the sheepdog was regarded as bionic object according to its high efficiency.The physiological data of the main bones of the shepherd are measured by the experimental method.After obtaining the video of complete gait of the shepherd trot,the HALCON software with powerful image processing function is used to obtain the relevant data of the shepherd joint swing in the whole cycle and then the data is prepared for control function compiling of the dynamic simulation software(ADAMS).After obtaining the physiological data,a simple analysis of biological anatomical and three-dimensional modeling are carried out.The mechanical structure of the robot is designed.In order to carry on the reasonable arrangement of the hydraulic system in the limited space,the space design is calculated,and the software Solidworks is used to design the parts of front legs,hind legs and the fuselage and then the parts are assembled.And at last the check and manufacture simple analysises about parts are done.According to the theory of kinematics,the kinematics and inverse kinematics are analyzed,which are done in touchdown and off ground,MATLAB is used to program writing and calculating on foot movement space analysis.Finally,a reasonable foot-moving space map is obtained.Finally,the ADAMS/view software was used to model and the characteristics of constraint and contact were added,and at the same time drivers are added to the joints to add contact features between the foot and the ground.The joint drive is added to the joint drive based on the acquired joint drive function.In order to enhance the rationality of simulation,the inverse dynamics simulation of two cycles is carried out in ADAMS,and the simulation results are obtained.Finally,the simulation results are analyzed from three aspects of body posture,foot trajectory and foot force,and the rationality of bionic design method is confirmed.The simulation results can provide reference for the design of the prototype of quadruped robot.