| Bionic quadruped robot has higher motion stability performance and it can realize stable walking of complex terrain compared with bipedal robot,and has a simpler structure and better flexibility in movement compared with hexapod robot.At present,the passability of quadruped robot in complex terrain is a hot topic of research,and there are prospects for the application of quadruped robot in scientific research institutions,military projects and civil fields.Nowadays,although there are related research achievements in bionic quadruped robots at home and abroad,there is still a big gap in the requirements of motion coordination,smooth progress and irregular and complicated terrain.After fully investigating the leg structure of various bionic quadruped robots,a bionic quadruped robot(Fyzs Dog)with two working modes,aiming at improving the robot's passability in irregular terrain is proposed and designed in this paper.Use of the relevant theoretical research,computer simulation and physical experiment platform,refer to the compound method of mechanism motion principle and mechanism,and to draw lessons from the current artificial intelligence optimization algorithm,the new mechanism for multimodal legs composite,structure design,dimension optimization,movement analysis,mechanical derivation,gait switch key problems,such as research.(1)Compared with the existing bionic quadruped robot leg structure,the advantages and disadvantages of open chain and closed chain leg structure are compared,and it is concluded that the closed chain leg structure has sufficient advantages in terms of stability and bearing capacity,and can realize the transfer of the drive from the joint to the fuselage so as to reduce the moment of inertia of the leg.Finally,the structure of the whole robot is determined by comparing the advantages and disadvantages of the different arrangement of the legs of the quadruped robot.(2)The kinematics analysis of the leg structure of "Fyzs Dog" robot under different working modes was carried out by D-H method.Then the geometric parameters of the legs were optimized based on the target of the foot end trajectory and the optimal size parameters of the legs were obtained.Finally,the results of the optimization are theoretically analyzed to verify the rationality and effectiveness of the leg structure design.(3)By using robot Jacobian matrix and Lagrange method,the theory of statics and dynamics is derived for the leg structure of "Fyzs Dog" robot under different working modes,and the functional relationship between foot end force and robot joint torque,as well as the functional relationship between joint drive angular displacement and joint torque are obtained respectively.(4)After comparing "Fyzs Dog" robot with the loin multi-joint robot at the level of step length change,a gait switching strategy was proposed to realize the high passability and stability of the bionic quadruped robot in the face of complex irregular terrain.Then,the robot foot trajectory planning was completed in the two modes.(5)A matlab-adams joint simulation platform was built to carry out simulation analysis on "Fyzs Dog" robot,and the reliability and rationality of the design were verified through data comparison.The physical prototype of the robot was made and the experimental test was initially completed to test the motion performance of the robot. |
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