Design And Analysis Of A Quadruped Robot With Waist

With the rapid development of the quadruped robot technology,the robot is becoming more and more widely applied in various fields.Now,using advanced robot technology to replace human completing the operation of the nuclear power industry in complex and dangerous environment has become the consensus of the global robot industry.This paper proposes a quadruped robot with waist and parallel legs,the robot with compact structure and flexible motion can mainly be applied on occasions of nuclear disaster relief.First of all,we should design the structure of the quadruped robot and determine the legs mechanism,waist joint prototype and the layout of the quadruped robot.Then the inverse position of the legs,waist joints and the whole machine is solved and the examples of the corresponding inverse position are given.Secondly,based on position analysis,at the same time,considering the structural constraints,the workspace of the legs,waist joints and the whole machine is established and the three-dimensional maps of workspace are drawn.Then we optimize the structure parameters according to the influence of paramenters on the workspace,and the workspace of the whole machine is sloved.Again,the performance on kinematics and mechanical of the leg mechanism is analyzed,and the velocity jacobian matrix is sloved.Then,the speed of transfer performance index and bearing capacity index are defined respectively,and we can draw the distribution map of performance index in the workspace.Finally,the walking stability and the gait of the quadruped robot are analyzed.The walking gait on the condition of curves and stairs is planned based on the principle of static stability.And an effective foot trajectory of the swinging and supporting legs is planned through the method of composite cycloid.The simulation of the whole machine which can lay the foundation for the research and development of the robot is completed according to the planned trajectory.