Research On Dynamic Model And Gait Planning Of Hybrid Quadruped Walking Robot

In recent years,the research of walking robot has become a hot topic that more and more scholars pay attention to.Quadruped robots are widely used in earthquake relief,geological survey,military combat reconnaissance,medical testing and other fields because of their high mobility,fast walking speed,high stability,strong adaptability to complex terrain,good movement flexibility and other characteristics,and play an irreplaceable role.Therefore,the research of quadruped robot has far-reaching significance for practical applications.Firstly,the kinematics model of the hybrid quadruped walking robot was built,and the relationship between the parameters of the moving platform was obtained through analysis.Then,based on the Lagrange dynamic analysis method,the dynamics analysis of the hybrid leg was carried out,and the equivalent driving moment of each driving branch chain was obtained.The validity of Lagrange dynamics analysis was verified by an example analysis.It plays an important role in analyzing the gait planning and force/position hybrid control of quadruped walking robot.Secondly,in order to improve the walking ability of the robot and the stability of the body,a semicircular and rectangular trajectory curve of the foot was proposed.Based on the quintic spline curve,the trajectory of the center of gravity of the quadruped robot was planned.Through ADAMS simulation experiment,the attitude angles of the body along each direction of movement are obtained Through analysis and comparison,the correctness and superiority of the gait planning and foot planning methods are verified.It is concluded that the four-legged robot has good stability within the error allowable range.Then,in order to promote the flexibility of quadruped robot,set up the mechanical model of quadruped robot,based on the sufficient power allocation algorithm,using mixed leg Jacobi matrix to establish the equivalent driving moment of the branched chain and the foot end force relations,and deduce the idealized in four support phase,three feet support phase when the size of the foot end along different directions.Finally,based on the gait planning and force/bit control strategy,the co-simulation between ADAMS and Simulink module is carried out.The simulation results verify the effectiveness of the foot force distribution method and the force/bit control algorithm,which provides a theoretical basis for the control of subsequent prototype experimentsFinally,an experimental platform of quadruped robot was built,and experiments were carried out on the quasi-semicircular and quasi-rectangular trajectories of the quadruped robot with hybrid legs,and the steps of the quadruped robot.The reliability and accuracy of the theoretical analysis method and the simulation of the virtual prototype were verified by comparing the data collected by the sensor with the simulation results of the theory and the virtual prototype.