Studies On Motion Stability Of Hydraulic-driven Quadruped Robot In Trot Gait

The mechanism of hydraulic quadruped robot is based on bionics principle,with the characteristics of good stability,strong carrying capacity and high mobility.Its outstanding performance and wide application prospects have been widely concerned by scholars at home and abroad.This thesis makes a research on a hydraulic quadruped robot which is designed by IBSS,deeply analyses its mechanism,kinematics,sensors and motion stability,combined with the characteristics of environment,the wireless control system has been designed.Then some experiments has been designed about the motion control board,hydraulic cylinder and the robot itself to realize its stable motion in trot gait.The main work of this thesis was completed as follows:1.Analyzed the mechanical structure's characteristics of hydraulic quadruped robot,based on the previous research experience,the mechanical structure and joint position detection of hydraulic quadruped robot is optimized;2.Established the motion control mathematical model based on the way of D-H coordinate transformation.In order to improve the coordination of the motion of the robot,the foot trajectory which is based on Polynomials has been designed.Based on the SLIP model,established the theory of stability motion in trot gait.Considering the mission of slope movement,design a new mode of motion so that the robot can walk on the slope stability;3.Combined with the characteristics of robot motion environment,to ensure the reliability and safety of the robot's motion,the idea of the wireless control is proposed.Then,the wireless control system experiment is carried out on wheeled wall climbing robot.According to the experience,combined with the robot motion control board,the wireless control system has been designed;4.Write control program,the step response experiment,load experiment and sensor feedback experiment of the circuit has been designed.Then,design a test software to test the hydraulic drive unit and foot trajectory.Finally,the experiment of upright stability experiment,fast movement in trot gait experiment and slope movement experiment are carried out to imply the stable motion of the robot in trot gait.