| With the advancement of manufacturing technology and the improvement of control theory,quadruped robots have developed rapidly in recent years.Animals have unique environment adaptabilities after a long period of evolution,which provides inspiration for the design of the quadruped robot.This subject mainly studies the movement of the quadruped robot on steep mountain slopes,and takes the blue sheep which living on the bare rock in the mountains as a bionic obj ect,analyzes the excellent body balance and climbing ability of blue sheep to develop a quadruped robot for mountain motion.The main work of this paper is as follows:(1)The mechanical structure of the bionic quadraped robot is designed based on the physiological characteristics of the blue sheep.The design of the three-segmented leg structure and the variable stiffness function of the leg is introduced.The kinematics of the robot leg is modeled.The relationship between the joint angle and the position of the end effector is analyzed,and the working space of the foot is analyzed.(2)A method based on controlling the motion trajectory of the foot to make the robot moving smoothly on a slope is designed,and the stability margin analysis is given.Considering the continuity of the robot movement,a method by controlling the pitch angle of the body is given.It provides a theoretical basis for robot motion control.(3)The simulation experiment and the prototype experiment are carried out.The robot simulation model is established in ADAMS.Simulated the movement of the robot on the 15 and 30 degree slopes.The result shows the stability of the body is higher when the robot body and the slope are more parallel.In the prototype experiment,a sufficient protection mechanism was first prepared,and the robot can be climbed on a 30-degree slope.It shows that the robot structure design and motion planning are effective,and it provides an experimental basis for the subsequent robot improvement program. |
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