Four-legged Robot Design And Gait Research Based On Virtual Prototype

Ground unmanned platform has become a hot spot in the field of military robot research in recent years.Compared with the wheeled and tracked mobile robot platform,quadruped robot has the unique advantages of Bionics in the two aspects of the mechanical structure design and gait planning.Designing a quadruped robot with strong load capacity,stable running and low energy consumption refer to the biological structure and walking principle of quadruped mammals and reptiles in nature is a key research topic of domestic and foreign scholars.In this paper,a quadruped robot with 5 degrees of freedom is designed,which is based on the concept of modular structure design,and using the virtual prototype technology to analyze the kinematics and dynamics characteristics of the robot.The kinematic model of the robot is established by using the D-H parameter method,and using the gradient projection method to analyze the inverse kinematics of the robot,which provides the theoretical support for the following gait planning and the selection of the foot trajectory.With studying the crawling gait and trotting gait of the quadruped robot,the input of the following virtual prototype simulation can be achieved by solving the each joint variable function of mechanical legs in MATLAB.In order to verify the rationality of the gait planning and to understand the motion characteristics of the walking mechanism,the 3D model of the robot is introduced into the dynamic simulation software ADAMS.According to the information of the gait planning content,the information of the mechanism and the driving constraint should be added to complete the dynamic modeling of the robot,Building a co-simulation platform for quadruped robot in the MATLAB/Simulink environment by using MATLAB to solve the complex control system can get the body displacement,joint angle,torque and other information in the simulation of robot's movement,which can provide a reference for future research.