Quadruped Robots' Design And Research On The Effect Of Spinal Joint Number On The Movement Performance

In recent years,natural disasters frequently happened in the southwest of our country,such as earthquakes,landslide and debris flow,which bring heavy pain to the people and the country.These early warning robot has been put into use and obtained good results,but the robot for rescuing and exploring is still in research stage,while the heavy rescue work lead to police dog are exhausted and the phenomenon can be seen everywhere.The robots for the use of disaster rescuing and exploring mainly is quadruped robot,which can detect the environment and carry on path planning with different kinds of sensors and camera,currently.With the development of technology,the trunk of quadruped robot expand from rigid trunk gradually to a more complex flexible trunk with several spine joints,the quadruped robot with flexible bodies is better the than the robot with rigid torso in flexibility.So,the research work of quadruped robot with spinal joint,especially the implementation of long life and exploration in unstructured environment with smooth operation,has the very vital significance and value.This thesis mainly around the spinal joint parameters of the quadruped robot with spinal joints to do the following research work.The high flexibility cheetah been as the prototype,analyzed the spine structure and simplified it,then containing multiple joints of the spine torso model is set up,combined with the existing research results about leg and foot to build complete quadruped robot topology model.Based on the model,calculating it's forward kinematics and inverse kinematics equations and according to the range of each joint to plot legs' movement space.Based on the problem of the impact between the end of foot and the ground,using the new trajectory planning algorithm to design the gait and designing the trajectory function in the support and swing phase of the end of the leg.Based on the zero moment point stability criterion,verifying the movement stability of quadruped robot walking in unstructured environments.Based on the Adams soft,using the Trajectory function to solve the kinematics function respect to time of a single leg's each joint to obtain smooth gait movement.Based on the control principle of biology's central pattern generator(CPG),designing the soft and hard control system of quadruped robot.On the basis of CPG control mode,the central control signal been output to be the control signals for the leg movement,then constituted the quadruped robot's walking gait.Through the establishment of the gait matrix to realize the transformation between the various gait,and through the simulation experiment shows that the quadruped robot in this control mode can stable operation.Build a four-legged robot test prototype and test environment,through the simulation analysis and physical movement analysis to carrying on the analysis experiment.Under the premise of without changing the topology structure,by changing the structure of the spinal joints,contrasting the power return back from the power supply and the running time to determine the influence of the number of the spinal joints under running motion.