Research Of Structural Design And Simulation Of Quadruped Robot

At present,with the rapid development of economy,the continuous progress of science and technology,the application of the robot is more and more extensive.Meanwhile,walking robot with unique structure and flexible motion characteristics,as long as the structural design is reasonable and the design of control system is accurate,can walk on any complex terrain.Therefore,the research on it has become the focus of researchers at home and abroad.Interiorly,by far research of walking bionic robot is mainly on the rationality of structure design and gait simulation by hydraulic drive,little research with load by motor drive.The model of quadruped robot is established by references to the framework of the horse prototype.In this thesis,virtual prototyping technology is used for kinematical and dynamical analysis with the target of running steadily,the minimum weight and the highest level of comfort.The gait simulation analysis of quadruped robot's manned walking straightly is through the joint movement in order to achieve the ultimate research goal.The main contents of this paper are as follows:1)This thesis introduces the background and significance of the research and briefly analyzes the present status and trends of the development of the quadruped robot at home and abroad.2)Analyze the bone structure and the way to walk of a quadruped mammal of the horse,design the quadruped robot by reference to horse' bone configuration,put forward the structure design scheme of combining seat structure's optimizing design and leg structure.Determine the maximum load and give five natural frequencies by finite-element analysis of the whole model.3)Outline kinematics of the robot,carry out the forward and reverse kinematical analyses for the model by D-H method and model validation by SimMchanics,which lays the theoretical foundation for the virtual simulation analysis of the following robot's motion.4)Import simplified model into the ADAMS environment,add constraint conditions,establish virtual prototype.Plan gait by SimMchanics,set the driving function according to the gait parameters of the plan,and realize the kinematical and dynamic simulation.Repeatedly adjust gait parameters,finally realize the smooth motion requirement.Detect whether the robot is running steadily through the wave diagram of gravity center position obtained by simulation.The quadruped robot in the thesis runs steadily during working and is very practical.It will lay the foundation of the development of tools instead of walk for the old and disabled.It will provide reliable data for the development of physical prototype at the same time.It has important research value and far-reaching social significance.