Research On Kinematic Modeling And Gait Planning Of Quadruped Walking Robot With Hybrid Mechanical Leg

The foot robot has the characteristics of good motion performance and strong terrain adaptability,and the quadruped robot has gradually become a hot topic in the field of foot robot research due to its good adaptability and high flexibility.The hybrid leg structure combines the advantages of series and parallel mechanisms,and has important research significance for the leg structure innovation of quadruped robotsFirstly,the single leg structure of the four legged walking robot is analyzed by using the screw theory,and the model is verified by ADAMS software.Based on the vector method,the inverse kinematics model of the leg parallel and series mechanism is established,and the motion planning of the leg moving platform is carried out.The simulation value of the driving chain of ADAMS is compared with the theoretical driving value of MATLAB.The correctness of the derivation of the inverse solution theory of the motion of the hybrid leg structure is verified.Secondly,based on the position inverse solution model and differential transformation,the Jacobian matrix method is used to establish the leg velocity and acceleration models.The working space of the hybrid legs is determined according to the constraints and the discrete method.The ABAQUS finite element software is used to analyze the static stiffness of the hybrid legs,the binding constraints are applied to the model parts,and the boundary constraints are set.After a given load,the stress and displacement distribution of the hybrid legs mechanism is obtained to meet the requirements of stress and deformation,verification The correctness of the structural design.Thirdly,the motion parameters and gait planning of Trot gait and triangle gait are designed.Through simulation,the straight,left and right turning gait is obtained.For Trot gait,inverted pendulum and zero moment point model are used for stability analysis;for triangle gait,COG model is used for static stability analysis and ZMP model is used for dynamic stability analysis.By comparing the two gait analysis and simulation,the Trot gait is larger,faster and more agile than the triangle gait,so the Trot gait is more suitable for the leg structureFinally,build a physical physical prototype,carry out the overall design of the control system of the hybrid leg-foot quadruped walking robot,and carry out the experimental verification and related debugging of the physical prototype of the single leg.After acquiring multiple position data through the main control board driving motor and sensor,the physical displacement of the prototype displacement test data is compared with the simulation data,and the results are in good agreement,which verifies the correctness of the simulation design and the theoretical design.