| More than 50%of the land area on the earth is a non-flat road environment.Wheeled or crawler robots are currently unable to reach more than half of the earth's land,while foot robots are prominent in complex terrain adaptability and flexibility.The advantages and strong integration.The gait planning of the quadruped robot is the basis of its stable walking.It has important research significance and practical value for the robot to improve its motion stability when working in many fields such as military defense,exploration and investigation,and field rescue.This thesis takes the plane eight-links quadruped walking robot independently designed and developed by the laboratory as the research platform,based on the gait planning method and maneuverability of the quadruped walking robot model,and carries out the actual physical prototype expeiriment of the quadruped walking robot.Verify its feasibility.The kinematics and dynamics modeling of the quadruped walking robot is carried out by numerical calculation method,and the relationship between the mapping relationship between the robot working space and the joint space and the force generated by each component due to motion and the driving force of the input are obtained.The theoretical calculations are compared with the simulation results to verify the correctness of the theoretical calculations.In this thesis,the coordinated triangle gait,intermittent triangle gait and diagonal gait are planned for the quadruped walking robot to adapt to different terrain environment movements.The stability analysis of the robot motion is carried out,and the attitude adjustment of the fuselage is used to increase the pitch angle of the robot when climbing,and the walking efficiency of the robot in the slope environment is improved.A 3D wave compensation diagonal gait is planned,and the robot is zero torque.Point ZMP is controlled on the diagonal to improve the stability of gait walking.The gait motion simulation is used to verify the feasibility of the planned gaitIn this thesis,the longitudinal impact resistance of the quadruped walking robot is studied,and the anti-longitudinal impact posture adjustment control strategy is established to maintain the balance of the fuselage and improve the longitudinal impact resistance of the robot.The feasibility of the simulation is verified by joint simulation.The obstacle obstacle performance of the walking robot was studied.The structural optimization design was carried out based on the original leg mechanism.The optimized plane leg mechanism maintained the original motion track and increased the variability of the robot leg crossing height.thus improving the The obstacle obstacle performance of the robot is studied.The anti-dumping performance of the robot is studied according to the stability cone determination method and the actual size of the robot.The theoretical calculation shows that the robot has stable walking ability.Developed a physical prototype of a quadruped walking robot.,and performed gait motion experiments on robot coordination,intermittent triangle gait and diagonal gait,including plane terrain walking and slope walking,to meet the robot's ability to complete the corresponding gait according to the program control.The detection experiment of the robot sensor system mainly includes the pressure sensor for real-time measurement of water pressure,the attitude sensor for measuring the deflection angle of the robot in real time,and the sonar sensor for measuring the water depth and underwater terrain to realize the design requirements of the robot.The experimental results verify the feasibility and effectiveness of the planned gait and the detection function of the robot sensor system. |
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