| In recent years,bionic foot robot has become a research hotspot in the field of robotics.Quadruped robots are more stable than biped robots and avoid the complexity of Hexapod robots.They have good application prospects in post-disaster rescue,agricultural and forestry production,military reconnaissance and so on.Therefore,the research on quadruped robots has practical application value and social significance.In this paper,the bionic quadruped robot is taken as the research object,and the bionic mechanism design,kinematics analysis,gait planning and foothold optimization of the electric quadruped robot are studied.Finally,the motion control system of the quadruped robot is designed and verified by experiments.The specific research contents of this paper are as follows:(1)Kinematics analysis: By establishing D-H coordinate system and solving the forward and inverse kinematics equation,the forward and inverse kinematics analysis of quadruped robot is carried out.(2)Gait planning: In order to make the robot walk smoothly,several common gaits of quadruped robot are analyzed,and the judgment basis of walking stability of quadruped robot in walk and trot gaits is put forward.(3)The optimization of landing position: Aiming at improving the walking speed of quadruped robot,the selection of landing position of quadruped robot was optimized based on the genetic algorithm toolbox of MATLAB.(4)Control system design: The motion control program of quadruped robot is designed and compiled by Labview,and the main functional modules are designed to realize the calibration,teaching and motion reproduction of quadruped robot.Finally,the experimental results show that the optimal parameters of the landing point can effectively improve the motion speed of the quadruped robot. |
PDF Full Text Request