Structure Design And Motion Analisis Of Electrically Driven Quadruped Robot

With the development of mechanicals,electronics,CNC and other technologies,mobile robot technology has gradually developed.Among the current driving modes,the electric drive has the advantages of its small size,high control accuracy,simple control method and faster response,so the electric driven walking robot is becoming the main research object of scholars.This paper aims at analyzing the skeletal structure of the cheetahs and medium-sized dog under the guidance of the bionics principle,and establish the quadruped robot through three-dimensional modeling software SolidWorks,then co-simulation of ADAMS and MATLAB in order to verify the correctness of the model,and determine the design plan of the 12-DOF electric drive quadruped robot and produce a prototype,Finally,a series of physical experiments of different gaits have been done on this physical prototype,which verified the rationality of the existing physical prototype.The main contents of this paper are as follows:Firstly,According to the analysis on the skeletal structure of cheetahs and medium-sized dog,the configuration and driving form of the joints on the quadruped robot were determined from the aspects of stability,energy consumption and environmental adaptability.The whole structure of quadruped robot is taken into account,and the design method that from top to bottom is used to design the components,and the tool simulation is carried out by Workbench.And finally,the prototype model of the robot is determined.Secondly,The foot trajectory and joint driving angles of the robot legs are calculated through kinematic equation and the gait parameters suit for the movement of the robot are determined,and the change of the foot force and the joint driving torque in a period on hard road surface also been calculated,which provides the foundation for the motor selection.Using the ADAMS and MATLAB to simulate the robot trot gait in detail,the correctness of the robot physical model is verified and the model of the driving motor is determined.Then,based on the calculated trajectory and the angle of joint movement,we design the control system of quadruped robot by CAN bus.According to the control scheme,the hardware of different parts is selected,and the control system of quadruped is written in C#,which realized the simultaneous motion of 12 joint motors.Finally,according to the existing three-dimensional model of quadruped robot,we produce an integrated physical prototype and built the control system which is used to do series of tests to analyze the driving motor of single leg and four legs of the quadruped robot,the test results demonstrated the rationality of the quadruped robot scheme designed in this paper.