Structural Optimal Design And Path Tracking Of Quadruped Robot

As an important branch of mobile robots,quadruped robot has better stability than biped robots,and has less institutional redundancy than hexapods and multi-foot robots,making them flexible to adapt to various working environments.Therefore,the quadruped robot has more and more application prospects in civil military and scientific research fields,and has gradually become a hot spot in the field of legged robot research.The comprehensive performance of the quadruped robot is mainly determined by its body structure,motion planning system and motion control system.In order to achieve the goal of the flexibility and reliability of the quadruped robot movement,theoretical tools such as bionics,mechanism,optimization design algorithms,kinematics and dynamics are comprehensively applied in this paper,and problems existing in structural design and motion planning of quadruped robot are deeply studied.The research mainly involves the optimization design of the robot's ontology structure,the motion planning of the robot's turning gait,the path tracking control of the robot,and the construction of the physical prototype of the quadruped robot.The specific research contents are as follows:?Using the DH method to compare the influence of the hip arrangement of mammals and insects on the working space of the robot's foot by kinematics analysis,and design the hip joint arrangement of the robot from the perspective of improving the gait flexibility of the robot;The rod transmission mode shifts the robot knee motor installation position to reduce the robot's leg moment of inertia;the multi-objective backbone particle swarm algorithm is used to reduce the maximum driving torque required by the robot active joint and achieve the mechanism kinematic decoupling as the target for the robot leg.And the linkage mechanism of the robot leg is optimized.? According to the optimized leg structure,the equivalent model of the robot leg is established.The kinematics and dynamics of the robot leg structure are analyzed.D-H method is used to solve the inverse kinematics of the robot leg,and Lagrange equilibrium method is used to analyze the dynamics of the equivalent model of the robot leg structure.? In-depth study of mouse turning movement and through the analysis of the stride law in the process of bending movement,the main characteristics of mouse turning movement are extracted,and the turning gait of quadruped robot is designed by combining the characteristics of the foot robot.Meanwhile,COP method is used to analyze the stability of bionic turning gait of auadruped robot.The virtual prototype of the quadruped robot is built in Adams,and the rationality of the gait is verified by simulation experiments.? Based on the research of robot path tracking motion,a path tracking method based on the fuzzy radius of the target path curvature radius is proposed.The fuzzy control rules are summarized on the basis of in-depth observation and analysis of the path tracking motion of the foot robot.Based on this,the robot path tracking fuzzy control table is established,and the result of fuzzy inference is sharpened by the area division method.Finally,the robot path tracking fuzzy controller is built.? The robot parts are processed by combining 3D printing and machining to complete the construction of the robot physical prototype.Path tracking experiments are carried out under the linear target path,arc target path and irregular target path experimental field.Through the extraction and analysis of the experimental data,the rationality of the robot bionic turning gait and the effectiveness of the path tracking control method based on fuzzy control are further verified.