Configuration Design And Kinematic Modeling Analysis Of A Four Legged Bionic Horse Robot Driven By Cam Link Combination Mechanism

In this paper,a quadruped bionic horse robot was designed by analyzing the current research situation of quadruped robot and combining with bionics principle.The leg system of the robot was driven by cam link combination mechanism and has two degrees of freedom.It can adjust the span and height of foot trajectory,and then form different motion trajectory to meet the rehabilitation needs of different patients.In the research process of the bionic horse robot,according to the summary of similar research,this paper designed the whole configuration of the robot,and expounded the working principle of the bionic horse robot in detail.In order to solve the kinematic parameters of each mechanism of the leg system of the robot,the kinematic modeling analysis of the leg system was carried out and the MATLAB kinematic analysis program was compiled.Those characteristics were analyzed,including the relationship between the structural parameters and the foot end point trajectory,velocity and acceleration,as well as the cam pressure angle in the process of motion.Based on ADAMS simulation software,the dynamic simulation of the threedimensional model of the bionic horse robot was carried out.In this paper,the torque of the driving motor,the force of the walking leg and the acceleration of the robot's center of mass were analyzed.In order to eliminate the whole jumping phenomenon of the robot in the simulation process,a variable speed drive method was proposed.Based on the kinematic analysis of the leg system of the bionic horse robot,a cam mechanism model with variable fulcrum and oscillating follower was established.Furthermore,its cam mechanism parameter optimization model and cam profile design model were established.Then,the model of cam mechanism with variable fulcrum and flat bottom oscillating follower was applied to the leg system of bionic horse robot.It can achieve the purpose of optimizing the mechanism on the basis of meeting the rehabilitation needs of patients,and also enrich the design theory of cam linkage combination mechanism.This paper focuses on the configuration design and kinematics modeling of bionic horse robot.The conclusion obtained in the research process will promote the development of equestrian adjuvant therapy.