Mechanical Design And Analysis Of A Bionic Quadruped Robot

When four-legged robots are walking on unstructured terrains, they are usually under therisk of instability and unbalance. How to design the robot is the basic and initial problem ofachieving dynamic balancing on all kinds of unstructured terrains. This thesis, which aimingat solve the design of the robot, completes the design and analysis of the bio-inspiredquadruped robot from the aspects of structure design and force analysis, and further verifiesthe validity and effectiveness through the simulation and computation methods.Firstly, the quadruped robot is designed based on the structure of four-legged mammals.The structure of mammals is analyzed and objectives are proposed. The structure of robot andlegs are completed and parameters are chosen based on bionics.Secondly, the structure of the leg and robot are analyzed based on the feature of structureand force analysis of quadruped robot under different working environment. Through theanalysis of the leg, the working space is calculated, and the output torques are calculated andsimulated. In addition, the structure of the robot is analyzed through force calculation.Furthermore, the strength of key parts are calculated which verify the load ability and strengthof the structure.Finally, through the analysis of structure and force, optimization of the robot and leg arefinished respectively. A method of force optimization based on compliance control isproposed which provide an effective way to improve the performance of the robot.Co-simulation is applied on the experiment of single leg hopping which verifies the reliabilityand effectiveness.