Simulation And Design Of Wire-driven Quadruped Crawling Robot

Bionic-robot which is a combination of various advanced athletic ability in quadrupeds and various application of robots has the huge advantages in kinematic dexterity and environmental adaptability.The quadruped robot has wide fields of applications in military-civil material transportation,field operation and rescue mission.Now,most of the bionic quadruped robots are still driven by the built-in motor directly.The drive motors require some installation space and increase the joint weight and moment of inertia,resulting in low efficiency of the robot transmission and poor driving performance.In this paper,a new wire-driven quadruped robot has been designed which aims at increasing quadruped robot's flexibility and movement performances.In this paper,the structure design of wire-driven quadruped robot,kinematics analysis,the planning of foot trajectory and dynamics simulation are performed.The main content is as follows:1.According to the requirements of integrating the construction and the drive system,a criss-cross hip joint structure which can place all motors in robot's body is designed.Aiming at raising environmental adaptability and movement performances,a rigid-flexible leg-end structure with two springs which has damping and reset functions is designed.And the framework and parameters of wire-driven quadruped crawling robot are given.2.The kinematics and inverse kinematics of the robot's leg and the quadruped robot is analyzed and the mapping relationship between joint space and motor-driven space is established.3.The straight-walking gait and stand-still turning gait are planned.Referencing trajectory planning method in joint space based on the robot manipulator,a foot trajectory using quintic polynomial interpolation algorithm is given.4.Relying on Creo and Adams software,the unite-modeling method is carried out in this paper.Many important parameters,such as driving forces of each motor and impact forces between robot feet and ground,are gained from the kinematics and dynamics simulations under Adams.Adopting the wire-driven system,the motors are placed inside of the body so that the configuration of the system,the moment of inertia and weight of joint is reduced.The simulation results show that comparing with the direct drive robot,the wire-driven robot has higher speeds and greater performance.The wire-driven robot has meaningful reference for bionic quadruped robots with highly dynamics and environmental adaptability.