Research On Motion Control Of Bionic Quadruped Robo

In recent years,bionic quadruped robots have played an important role in industrial production,emergency rescue,military missions,medical care,and planetary exploration,and people have put forward higher requirements for the performance of modern bionic quadruped robots.Nowadays,the development of bionic four-legged robots is changing with each passing day,and robots of various styles and functions emerge in endlessly.However,in the face of complex and changeable motion scenes in real life and increasing industrial costs,it is particularly important to design a simple,portable,flexible and efficient bionic quadruped robot.Based on the quadrupeds in nature,this dissertation designs an efficient gait planning method for bionic quadruped robots by analyzing the structural characteristics and walking styles of canines.The main research content of this dissertation is as follows:Firstly,the structure and characteristics of quadruped legs are analyzed,the basic parameters of quadruped robot are defined,and the relevant structural parameters and motion parameters of bionic quadruped robot are determined.Analyze the principles of robot kinematics,including kinematics forward solution and kinematics inverse solution.At the same time,the trotting gait law of the quadruped robot is analyzed,and the gait movement of the four legs of the quadruped robot is coordinated.Secondly,the single-leg D-H coordinate system of the quadruped robot is established by the D-H method.Using the defined robot parameters,the robot single-leg kinematics modeling is carried out using the Matlab robot toolbox.The reachable area of the foot end of a single leg is determined through the kinematics positive solution,and the reachable area of the foot end is further optimized.The point-to-point method is used to find a high-efficiency foot movement trajectory,and the kinematic inverse solution is used to obtain the angle change of each joint,and the calculated angle data is used as the joint function of the robot leg.Subsequently,the joint angle data and the trot gait law are applied to set the joint function.A quadruped robot kinematics model is built on the Matlab robot toolbox simulation platform,and a regular phase motion relationship is set for the joint functions of the robot’s four legs,and time variables are added to the joint functions.Import the joint drive function with added time variable in Adams simulation software,and carry out robot motion simulation and test.Finally,the data is input into the physical model,and the experimental results are consistent with the simulation results,which verifies the rationality and effectiveness of the design method and provides a theoretical basis for the subsequent physical verification.Finally,the joint data verified by Adams simulation is converted from radian system to angle system,and the initial angle of the steering gear is adjusted according to the actual situation of the physical experiment platform.Import the adjusted angle joint data into the physical experiment platform,so that the bionic quadruped robot experiment platform can move regularly according to the set joint function.Observe the motion state of the robot,and adjust the joint data that can cause obvious jitter in real time to ensure motion stability.The results show that the trajectory of the foot end of the quadruped robot designed in this dissertation can enable the robot to complete the trot gait movement better.