Study On Goat Slope Movement Characteristics And Simulation

Quadruped robot is a kind of robot with good stability and easy to control.Its structure complexity and redundancy degree are relatively low,and the discrete foot end motion trajectory can adapt to the relatively complex motion environment.The slope movement of quadruped robot is one of the important moving environments of quadruped robot and has been a difficult point in the control research of quadruped robot.There has been a lack of theoretical research on the high efficiency and rationalization of slope movement of quadruped robots.The development of bionics provides a new research idea for the improvement of slope movement ability of quadruped robots.The motion characteristics of tetrapod with good slope motion stability are studied,which can be used for bionic design of slope motion of tetrapod robot.The main purpose of this paper is to analyze the influence of slope slope on the kinematics and dynamics characteristics of goat slope movement,and to extract and analyze the characteristics by taking the goat as the research object.Based on the research of goat motion characteristics,the structure and driving bionic design of the quadruped robot was carried out,and the simulation experiment was carried out to verify the bionic design by multi-body dynamics software.In order to study the goat slope kinematics and dynamics characteristics,using high-speed cameras to different grade goat(10 °,20 ° and 30 °)on the downhill kinematics experiments,different slope condition,the movement data of goat limbs joint Angle,and carry on data processing and curve fitting analysis,get the goats on the downhill movement joints motion curve and its kinematics equation.The results show that with the increase of the slope,the motion speed of each joint of the anterior and posterior limbs becomes faster,and the motion range of each joint of the anterior and posterior limbs is different.Using plantar pressure test system acquisition goat pressure distribution under different slope,the results showed that the goat remain still on slope,with the change of slope,the goat will by adjusting the limb joint Angle,make the limbs support distribution more uniform,thereby avoid fore or hind legs due to the large volume load and slippage.The hind limbs of goats mainly provided driving force when going up and down the slope,while the forelimbs provided partial proportional braking force when going down the slope.However,with the increase of the slope,the proportion of driving force of the forelimbs gradually increased when going up the slope,while the proportion of braking force of the forelimbs gradually increased when going down the slope.In the uphill process,the distribution of the goat pressure center(COP)is relatively concentrated in the center of the support region,while in the downhill process,the COP distribution is relatively loose and the position in the support region changes greatly.The experiment of goat slope turning movement shows that,when turning with a small slope,it is mainly the forelimbs that guide,and when turning with a large slope,it is mainly the hind limbs that guide.By establishing the d-h equation of forelimb,the model of forelimb turning movement was established based on the kinematic parameters of goats,and the effective space of forelimb movement was simulated and analyzed.Based on the characteristics of goat biological structure,the bionic quadruped robot body structure was designed,and a flexible transmission structure was designed to meet the motion requirements of the four-legged robot body fluctuation.The bionic model was simulated by using the multi-body dynamics software Recurdyn,and the stress-strain characteristics of the key components of the simulation model were analyzed.