Sturcture Design And Analysis Of A For-Legged Robot

In this paper,designed a quadruped walking robot,the robot leg with four degrees of freedom parallel mechanism,the mechanism has a compact structure,strong carrying capacity and a large work space.The robot can achieve a series of actions,such as walking,obstacle,squat,stood up,etc.Based on the bionic structure design,scheme comparison and change of the robot's legs,a four-legged robot prototype model was designed.In this paper,the position of the leg mechanism is solved,the working space of the leg mechanism is obtained,the influence of the scale parameters on the working space was analyzed.The velocity Jacobian and the force Jacobian of the leg mechanism are obtained,the velocity Jacobian condition number of the dexterity of the leg mechanism is analyzed,using the force Jacobian and its transpose of the largest singular value of the product of the square root analyzed the leg mechanism of bearing capacity using the method of split to take apart the whole machine,and analyzes the state of stress on each part.By using the method of trajectory composite curve of single leg foot end in motion trajectory in the process of planning,and the foot of the displacement,velocity and acceleration is analyzed.By using the principle of COG and zero moment principle,analyzes the static stability and dynamic stability of the robot,and has carried on the motion simulation of single leg and the whole machine,the plot of the displacement,velocity and acceleration of the drive,and analyses the simulation of the robot movement,for quadruped robot prototype development laid a solid foundation.