Research On Vibration Characteristic Analysis And Path Planning Of Quadruped Robot

With the continuous deepening of technological progress and related research,quadruped robots have gradually moved from the laboratory to practical and popularization.However,when quadruped robot walks in various environments,it is bound to be impacted to varying degrees,resulting in vibration.For this reason,this article mainly studies the vibration characteristics of the quadruped robot in order to achieve the purpose of walking stably.Specific research contents are as follows:First,devise the whole fabric of quadruped robot;Select and design the overall structure of the quadruped robot through the mammalian structure,and determine the configuration of its body and legs.Then through the selection and design of the leg joint structure,the selection of the leg joint motor installation and driving mode,etc.,the leg structure of the quadruped robot is determined.Second,based on the kinetics analysis of quadruped robot,Lagrange means is selected to resolve the driving power of its mechanical legs dynamically.By considering the nexus between the motion of the foot and the joints of mechanical legs,the functional nexus between each joint and the position drive of the foot end is obtained,and its kinematic model is built by D-H method and Jacobian matrix.Third,the vibration characteristics of the robot are studied.Based on the excitation method and principle in the mechanical vibration system,the influence of forced vibration on the system is analyzed,the system vibration model of the quadruped robot is established,and the vibration model is simulated by computer.By modifying the system damping variables to change the magnitude of the frequency amplitude,a simple optimization of the vibration model can be realized.Finally,the stability condition of quadruped robot based on zero moment point is analyzed,and the gait simulation of the robot is carried out.Aiming at the path planning problem of robot leg foot end,a spline algorithm is proposed and optimized with constraints,and then the foot end trajectory of the algorithm before and after optimization is simulated,which proves the superiority of the optimized algorithm.