| The continuous advancement of technology has led to the rapid development of the robotics industry.Its emergence has greatly improved people’s productivity and security levels,and also has freed people from dangerous environments.As people’s demands for mobile robots continue to increase,wheeled and tracked robots are no longer able to meet the task requirements in certain complex environments.The reason why mammals in nature can gallop on land is mainly because their limbs have strong flexibility and adaptability.Quadruped robots have many advantages that wheeled and tracked robots do not possess.This article conducts research on quadruped robots based on principles of bionics.The specific work is as follows:Firstly,the structure of the quadruped robot was analyzed.The structure of the robot mainly consists of the body and leg parts.Among them,the legs consist of three components: the hip,thigh,and calf,which are connected by the lateral swing hip joint,the anterior hip joint,and the knee joint,respectively.By analyzing the kinematics of the legs of the quadruped robot,the inverse kinematics of the quadruped robot were established.In addition,the leg configuration of the quadruped robot was analyzed,and the advantages of different leg configurations were compared.Secondly,in order to ensure the stable walking of the quadruped robot,this article planned and analyzed the center of gravity of the quadruped robot.By using the zero moment point theory and combining it with stability margin analysis,the stability of the quadruped robot was analyzed.Gait planning was carried out for both crawling and trotting gaits.Based on the gait planning,the motion trajectory curves of each joint motor were designed.Due to the advantages of simple structure,fast control response,and low cost,motors drives are widely used in joint drives of quadruped robots.Considering the requirements of the joint motion curve on the joint motor characteristics,this paper also studied the vector control method of the joint motor and designed the software and hardware of the motor drive,adopting the permanent magnet synchronous motor as the joint actuator for the working state of the joint motor during the motion of the quadruped robot.Finally,the simulation and experimentation of the overall and joint motor control of the quadruped robot were carried out.Speed and position control were applied to the joint motors,and an appropriate leg configuration was selected based on stability and energy consumption analysis of different leg configurations through simulation.Based on the aforementioned pose planning,gait planning,and leg configuration,the crawling and trotting gaits of the quadruped robot were simulated.The motion curves of the joint motors were analyzed,and ultimately,single-leg experiments and prototype experiments were conducted on the quadruped robot to validate the feasibility of the trotting and crawling gaits. |
