Design And Motion Performance Analysis Of A Small Quadruped Robo

With the development of science and technology and the advancement of society,the application areas of robots are gradually expanding.As typical ground robots,quadruped robots have high social value and scientific significance,and have increasingly become one of the research hotspots in the field of robotics.The main researches carried out in this paper are showed as follows:(1)The current research of quadruped robots at home and abroad was sorted out,and a small,convenient and modular quadruped robot structure was designed.According to the principle of bionics,the structural characteristics and kinematic characteristics of the robot are comprehensively determined.Based on the design requirements,the structural design of the torso,the legs and feet of the quadruped robot is accomplished.Here a series-parallel quadruped robot is proposed.The strength of key components has been checked,and the load-bearing capacity of the airframe structure has been preliminarily verified.(2)The kinematics model of the leg structure of the robot was established,the forward kinematics and inverse kinematics expressions were derived using geometric methods.Based on this,Monte Carlo method was used to solve the working space of the mechanism;the dynamics analysis was carried out,and the final results were simulated and analyzed through the ADAMS software.The traveling motion state of the robot in the Trot gait is obtained.(3)In order to study the walking stability of the robot structure,this subject carried out gait planning and simulation experiments.Through the displacement-time curve,the center of mass-displacement curve,the single-foot contact force curve,etc.,the gait cycle,motion speed,step length,The jumping height,jumping distance,climbing angle and other data verified the walking stability of the robot on different terrains and met its motion performance indicators.To study the walking stability of the robot structure,gait planning and simulation experiments were carried out.Through the displacement-time curve,the center-of-mass-displacement curve,the single-foot contact force curve,etc.,data such as the gait period,movement speed,and step length are obtained,which verifies the walking stability of the robot on flat terrain.(4)The third-degree polynomial interpolation and fifth-degree polynomial interpolation are used to design feet trajectory planning of the quadruped robot,then we verify it by MATLAB simulation,which provides constraint conditions for the follow-up robot control theory research.