The Mechanism Study Of Cushioning Effect On The Gog Leg Joints For The Qusdruped Robot

According to the way of walking,robot can be divided into the walking robot,tracked robot and wheeled robot.Walking robot has a unique advantage to adapt to the severe environment because of its discrete standpoint.The quadruped robots become an advanced research hotspot with its good stability,strong bearing capacity and many other advantages.However,the quadruped robots still have many problems to solve,such as the decline in movement stability because of the ground reaction force and the energy loss due to the rigid structure in the process of the foot of the quadruped robot touching the ground.This paper works up the changes of the angle and the energy of each dog'joint deeply,in order to support the design of the joint with variable stiffness.The main research contents and innovative results are as follows:1、This paper makes a detailed study to anatomical structure and motion principle from the perspective of bionics and gets the effect of the dog' s structure to the state of motion.This provides inspiration for the design of the mechanism of quadruped robot.2、Establish the structure model of dog through simplifying dog' structure.The leg can be divided into the swinging leg and support legs according to the state of leg's motion,then do kinematics analysis respectively to them,including forward kinematics and inverse kinematics analysis.This lays a foundation to the kinematics analysis of the quadruped robot.3、Gain the change law of each joint angle using of 3d dynamic capture system.Set up the model of energy change of dog joints and analyze it under different gaits and stiffness to get the most suitable stiffness variation function of energy change in order to support the design of the joint with variable stiffness.4、Go into the bionic foot of dog and design the mechanical foot,then simulate it using the ADAMS,it can be proved that the mechanical foot has the function of damping and saving energy.