Analysis Of Energy Consumption Of Hydraulic Quadruped Robot Based On Virtual Prototype

Quadruped robot has been a hotpot in the field of robotics because of its simple mechanical structure and control system. Quadruped robot which is drove by hydraulic system has lots of advantages. Firstly, compared with robot drove by electronic system hydraulic quadruped robot has larger load; secondly, hydraulic system can provide sufficiently large driving force in a moment. What’s more, hydraulic system also has the advantages of small size, high output power and high accuracy. Therefore, hydraulic quadruped robot is a new trend in the field of robot research.There are many aspects about the research of hydraulic quadruped robot. The performance of quadruped robot is constantly improving with the development of new material technology, sensor technology and control technology. Hydraulic quadruped robot can realize the functions of environment awareness, recognition, human-computer interaction and so on. However, it is an important challenge for the robot that how to improve the energy utilization ratio.This paper analyzse the energy consumption of hydraulic quadruped robot based on the hydraulic quadruped robot platform designed by automation’s laboratory.The D-H matrix method is used to build model of hydraulic quadruped robot in this paper. The inverse kinematics can’t get the only result because of the presence of a redundant degree of freedom. Therefore, geometric mathematical method is applied. Through the constraint of angle into ground,we can solve the problem.The analysis of energy consumption can be divided into two aspects: analysis and calculation of the efficiency of the drive system, the main factors that influence the efficiency of the system are obtained by the analysis; the other part is the analysis of the influence of gait parameters and structure parameters on energy consumption, and summarize the methods of decreasing the energy consumption.In the process of the analysis and research on energy consumption, three kinds of energy consumption indexes are applied, namely the rate of energy consumption, mean power density dispersion and density of power lost. The simulation analysis is done for different energy consumption indexes, and the influence of the parameters and structure parameters on these indexes is analyzed.Trot gait has lots of advantages such as larger speed adaptive range, better stability, better adaptability to environment and can reduce the workload in the process of analysis. Therefore, trot gait is applied in the process of analysis of energy consumption.At last, in order to reduce the system energy consumption further and improve the stability of the system. The vibration damping device is added to the foot. Then the influence of spring device on energy consumption is analyzed.