Research On Design And Conrtol Of A Quadruped Robot Facing Unstructured Terrain

Compared with other types of robots,the quadruped robot has stronger terrain adaptability.It can cope with the unstructured terrain environment by relying on the movement of the legs and feet to realize adaptive and stable walking under complex terrain.The adsorption crawling robot can carry out a wide range of walking and operation on complex surfaces due to its flexible space motion ability,and is widely used in industry,military,aerospace,and social life.In this paper,the four-legged adsorption crawling robot is the research object,and the robot structure design,gait planning,stability analysis and control research are carried out.The main work and results of this paper are as follows:(1)The structure designing and kinematics analysis of the quadruped robot.A new type of robot configuration with a support mechanism on the abdomen is proposed,and the static force analysis and finite element analysis of its leg structure are carried out,and the forward and inverse kinematics of the robot are analyzed by the D-H parameter method.(2)The gait planning and stability analysis of the quadruped robot.The stability criterion of the robot walking on the ground and on the wall is proposed,and the 3+1 gait for ground walking and the creeping gait for wall walking are planned.Through the numerical analysis of the stability margin,the stability of the quadruped robot is quantitatively described..(3)Terrain perception and body adaptive control.For the robot to walk facing unstructured terrain,the robot leg force sensor is used to obtain the ground contact perception,and the height and posture of the robot body are adjusted by calculating the positions of the four legs to realize the adaptation to the unstructured terrain and the foot trajectory Planned.(4)Co-simulation and analysis of dynamics and control system.Use ADAMS dynamic simulation analysis software to model the virtual prototype of the robot,plan and control the robot gait parameters through MATLAB/Simulink,complete the simulation experiment of the robot asynchronous state,simulate the crawling process of the robot,and measure the body displacement,foot trajectory,etc.The simulation results are analyzed.