| Now the research of quadruped robot is a very important one of the hot research fields,but current research of quadruped robot is mostly in the experimental stage.In the actual process of walking,foot touchdown moment will produce a great impact,causing severe vibration of the robot joints and the machine body,which reduces the sensing accuracy,damages some sensitive parts,and affects the stability of the robot movement.Considering these,we take a bionic driving method with variable stiffness and energy amplification,which can reduce the impact force when foot touch the ground,complete the task at the same time,and improve the adaptability of the robot.Firstly,the adjustable joint designed in this study was based on the changeable pivot lever mechanism.And by studying stiffness output characteristics of the cam,cam slot mechanism and screw nut mechanism,we put forward the integrated design of bionic robot joints.In this paper,the structure of joints and joint driving mode has a compact design,to meet the requirements of a robot system for the volume and weight.Secondly,we analyze the relationship between the structure parameters and the joint stiffness by building a mathematical model,and simulate the model based on MATLAB,which benefits the choice of a range of stiffness adjustment and increases stiffness sensitivity.And Further based on ADAMS,mechanical properties and energy characteristics are simulation analyzed.Finally,the flexible joint mechanical system and control system prototype of the quadruped robot is established.and it will further verify the rationality of the joint design and the effectiveness of stiffness adjustment combined with simulation results. |
