Research On Smoothness Of Closed-chain Legged Robot Based On Suspension Optimization

At present,legged robots have better obstacle-surmounting performance than wheeled robots,and the series mechanism has high flexibility,but the carrying capacity is limited.has developed rapidly.At present,the closed-chain mechanism robot has certain difficulties in improving the moving speed.Due to its low degree of freedom,the vertical excitation energy cannot be dissipated through the control system.At the same time,the existing suspension system is not matched with the closed-chain mechanism robot.Therefore,it is urgent to develop a suspension suitable for a closed-chain mechanism robot to improve its smoothness and increase its moving speed.The research methods in this paper are as follows: The foot trajectory of the optimized mechanical single foot is used to reduce the fluctuation degree of the center of mass fluctuation of the support phase;Optimize the parameters of the suspension system by using the multi-objective optimization algorithm to improve its smoothness;Observe the smoothness of the optimized suspension system through simulation analysis.After relevant research,the following results were obtained:(1)By establishing a single-leg mechanism model and improving the constraints,the fluctuation of the foot trajectory was reduced to 0.59%.(2)By analyzing the existing suspension system,the reason for the failure to effectively improve the vibration of the closed-chain foot platform was found,and for this reason,a closed-chain foot platform special suspension system was designed to effectively improve its rigid impact.(3)In the theoretical calculation and simulation,the closed-chain foot platform suspension system meets the working conditions of 10m/s movement speed under C-class pavement,and the theoretical smoothness of the platform has been improved.