Research On Optimal Design And Motion Control Of Single-leg Structure Of High-speed Hydraulic Quadruped Robot

Compared with other forms of mobile robots,foot robots have better flexibility and adaptability due to the discrete movement of foot landing points between foot robots and the environment.Therefore,foot robots are bound to have greater advantages when moving in some relatively complex environments.From the first single-legged jumping robot in the 1980 s to the four-legged Big Dog robot launched by Boston Dynamics later,it has made a significant contribution to the research of the field of legged robots.Meanwhile,its broad prospects have also attracted many scholars to devote themselves to relevant research work.The research on four-legged robots started late in China.Mainly concentrated in 863 under the plan of "high-performance quadruped bionic robot" research,domestic related research,many colleges and universities began has obtained certain achievements,but there is still a relatively abroad there is still a large gap in terms of stability and velocity,so for the related areas of research is still necessary,therefore this article from the perspective of improving single leg jumping movement speed,This paper analyzes the reasons that affect the speed,and studies some of the reasons.Hydraulic quadruped robots at home and abroad are based on the reference of relevant research results,with one leg hydraulic quadruped robot as the research object,in order to realize the high-speed single leg jumps for the purpose,mainly from the single leg related research on the structure and the corresponding control methods,with reference to relevant parameters of bionics design single leg structure,and the related structure design optimization,improved single leg jumping movement test bed at the same time,Make it fit the experimental requirements.Based on the design of the single leg structure,single leg is the inverse kinematics model is established,at the same time for joint transform relation between space and drive space,and set up one leg phase and touchdown phase suspension dynamic model,and contrast with the dynamic model in Adams,sports results,validating the model,at the same time,based on dynamic model of the feedforward feedback control was realized.Valve controlled asymmetric cylinder model is established and error analysis in the process of modeling,dynamics modeling and the SLIP model get the approximate solution,on the center of mass on the basis of a cosine trajectory of a continuous jump control,the impact of the problems in the process of movement take appropriate control strategies to improve,achieved based on the SLIP model after jumping movement in a row,And use the way based on virtual model,through the use of smaller model stiffness to reduce impact,when one leg compressed to the minimum make by changing the stiffness value and keep the ground process,through joint simulation realized compared with higher speed,the SLIP model and put forward the way of variable stiffness,by changing the ground stiffness value in the process,By making full use of the driving ability of the hydraulic cylinder in the process of pushing off the ground,the speed and height of the single leg jumping movement are further improved.