Research On Design And Simulation Of Mechanical System Of Bionic Bull Robot

The design and research of quadruped robots is a research hotspot in the field of leg-foot robots.Compared with the wheel-type,track-type and other mobile methods,the leg-foot type mobile robot has the advantages of flexible movement,adaptability to complex environments,and high mobile efficiency due to its unique form of movement.Structure Design Four-legged robots with high dynamics,large load capacity,and adaptability to complex environments are of great significance in the service of load-bearing,transportation,and other operations in forests,swamps,and other complex and rugged surface environments.In this paper,the bovine animal in quadrupedal mammals is used as a bionic prototype.Based on the principle of bionics,a bionic cow robot is designed and researched.Based on the analysis of body structure and movement characteristics of bovine animals,the leg freedom,topological structure and driving mode of the bionic robot are planned and designed,and the trunk structure of the robot is designed to build a three-dimensional model of the robot.By using D-H analysis,the kinematics of the bionic bovine robot is analyzed in the forward and reverse directions,and the forward and inverse kinematics of the robot kinematics are obtained.The inverse dynamics problem of the robot is analyzed and studied,and the ADAMS dynamics simulation model of the bionic cow robot is established.The trajectory of trott movement in mammals was analyzed.Based on this,the simulation of bionic cow robot dynamics was carried out,and the robot trot gait was operated in multiple cycles.The torque of each joint of the bionic cow robot was obtained and the inverse dynamics simulation of the robot was completed.The analysis summarizes the movement gait of quadrupedal mammals,and focuses on the analysis of the two common gaits,the walking and trot gait.The trot gait of the bionic cow robot was designed and designed,and the joint motion law of the robot trot gait was obtained.The trouser kinematics simulation of the bionic cow robot trot was performed by using the ADAMS simulation software.A simple analysis and planning of the bionic cow robot climbing steps and gait was conducted.The preliminary design of the control system of the bionic cow robot.Analyzes and proposes the functional requirements of the Bionic Robot Control System,and proposes the overall control system.Analyze the research and design of each layer of the sub-control system.Focus on the servo control system for analysis and research.In this paper,the mechanical model of the bionic bovine robot is established,and the kinematics and dynamics analysis are performed.In this paper,the mechanical model of the bionic bovine robot is established,and the kinematics and dynamics analysis are performed.The simulation software ADAMS is used for simulation.The walk and trot gait of the bionic cow robot are planned and designed.A control system scheme for a bionic cow robot was initially designed.It provides a certain theoretical basis for the manufacture of prototypes of bionic bovine robots.