Research On Motion Control And Stability Of Crescent Wheel Quadruped Robot

The desert area occupies more than 20%of the earth's land surface and is rich in natural resources.Due to the special geographic environment of the desert area,traditional wheeled robots and crawler robots have poor adaptability in its unstructured ground environment,and many legged animals can walk flexibly in the desert terrain environment.In this paper,the limb structure of multi-legged insects and the flexible walking gait of quadrupeds are used as bionic prototypes,and a new type of quadruped bionic robot is designed.The research content mainly includes the following aspects:In terms of system hardware,completed the mechanical system design,the fuselage is an I-shaped structure,and the legs adopt a crescent wheel structure,completed the electrical system hardware design,including the design of STM32 controller module,motor module,motor drive module,encoder module,communication module,infrared receiver module and power supply module.The remote control program of the infrared device was written to realize the remote control of the quadruped robot.In terms of control system design,a control strategy based on "following angle" is adopted to realize the control of the walking gait and diagonal gait of the quadruped robot.In terms of motion and stability analysis,the crescent wheel is equivalent to a light spring through the analysis of the movement and the force received by the crescent wheel,and the kinematic equation of the crescent wheel is established;For the crescent wheel quadruped robot,the velocity forward and inverse kinematics equations and dynamic equations are established;Based on the Zero Moment Point(ZMP),the walking gait and diagonal gait of a quadruped robot traveling at a constant speed are analyzed for stability,and the stability of turning,climbing and slopes is also analyzed and studied.Finally,the crescent wheel quadruped robot simulation model was built through the Webots platform,and the diagonal gait simulation was carried out;the assembly of the robot prototype was completed,the robot test under no-load state was completed,and the experiments of walking gait and diagonal gait were completed.