Development Of A Quadruped Biomimetic Crawling Robot

As the robot technology developing quickly, different kinds of new humanoid robots andbiomimetic robots are constantly being developed, which is different from the movementcharacteristics of traditional wheeled and tracked robots. Its unique features are still a top field ofrobot research. Scientists from various countries are constantly studying the walking animals todevelop various crawling robots with biomimetic characteristics. The structure of quadruped robot isrelatively simple and an ideal object to control, and there will be good prospects in military, space,disaster relief, industrial applications home entertainment and other fields. This topic aims to designa biomimetic quadruped crawling robot, and study on its kinematics and gait planning. The studyincludes:（1）Aquadruped biomimetic structure based on the mechanism of four-legged reptile movementis designed. The institutions of the robot legs can ensure that the robot foots always vertical to thefloor to prevent slipping phenomenon of the drill work occurred.（2）The structure and kinematics were analyzed based on the ADAMS simulation software andthe crawling effectiveness of the four-legged robot has been verified.（3）Servo motors were selected as the driver of the robot joint. Parts are designed and assemblyvirtually based on3D software Pro/Engineer A right proportion robot was designed and the virtualprototype model was converted into ADAMS kinematics simulation environment, in which materials,drive, contact and other related parameters of kinematics simulation are added.（4）The gait of quadruped crawling robot was analyzed, and an effective crawling gait wasplanned. The control algorithm was written into AVR controller and real-time control signals weretransferred through the serial communication to the servo controller and an off-line crawling wasachieved.The innovation of this paper includes: a new type of crawling robot with legs that can ensure thefeet always vertical to the floor is designed in bionics principles and the robot motion control issimplified.