Structural Design And Energy Consumption Analysis Of Bionic Quadruped Robot

Bionic quadruped robot has become a special robot with broad development prospect because of its strong adaptability to environment and excellent movement ability.It has been used in emergency rescue,disaster relief,military and other fields,so its research has high military and commercial value.In this paper,a new bionic quadruped robot with string-and-mixing mechanism as the leg configuration is designed,which has the characteristics of large working space and strong carrying capacity.The specific research contents are as follows:(1)Through the analysis on the four-legged mammal the horse's body structure and motion characteristics,some principles on the bionic quadruped robot structure design should be followed are summarized,and on the basis to analyze the leg configuration,a kind of compound structure with string and a new type of bionic mechanical legs is designed,the number of degree of freedom mechanical leg is verified,the quadruped robot integral structure design is completed.(2)The kinematics equation of the leg mechanism is established by the analytic method and the closed loop vector method,and the correctness of the kinematics equation is verified by the comparative simulation experiment of Adams and Matlab.Based on the correct kinematics equation,the jacobian matrix of the velocity of the leg mechanism is derived,and the singular configuration of the robot leg mechanism is obtained through the Jacobian matrix.Finally,the working space of the robot leg mechanism is obtained by monte Carlo method.(3)Based on the principle of zero impact,the high order polynomial,high piecewise polynomial,and the foot end under the composite cycloid trajectory are designed,the walking gait of the robot and the body center of gravity trajectory are planned,the theory of planning is verified by the simulation of Adams software,the numerical error between the theoretical data and the prototype simulation is obtained,which proved that the robot gait planning and body centre of gravity is the accuracy of trajectory planning.(4)On the basis of the correct of the gait planning of the robot,the energy consumption index of the mobile robot is defined.Firstly,the dynamic model of robot swing phase and supporting phase is established,and then the influence relations between gait parameters of foot motion trajectory and energy consumption rate of robot are analyzed by using Adams software.Finally,the rules between gait parameters and energy consumption of robot are summarized,which lay a foundation for the energy-saving walking of robot.(5)Based on the original prototype model of the robot,the leg of the robot was rebuilt,and the rigid leg was replaced by the elastic leg.The virtual prototype simulation is carried out in Adams software environment,and the simulation data results are compared with the simulation results without spring damping system.The comparison results show that the energy consumption rate of the robot after adding the spring is significantly reduced and the energy saving effect is significant.Lastly,the spring stiffness coefficient,the damping coefficient,the length of the spring and the spring precompression force are chosen as the research object to study the relationship between the energy consumption rate of a robot.According to the results of the simulation data,the parameter ranges of the robot move the energy consumption of the lowest rates range of parameter are determined,which lay a foundation for the prototype selection and design of the spring.