Analysis And Design Of Bionic Quadruped Combat Platform

In the field of ground unmanned combat platforms,wheeled and tracked carriers are mainly used.Its main features excellent maneuverability,strong maneuverability,and high technology maturity,which mobility is also limited by complex terrain.Quadruped robots have received widespread attention due to their powerful motion characteristics.In the battlefield,the unmanned system that applying quadruped robot structure is widely used in combat missions.Compared with the traditional wheeled platform,it is the stronger terrain adaptability,movement characteristics and versatility that makes Quadruped robots an ideal platform for mountain material transportation,strategic investigation and target strike.For the four-legged unmanned system applied in the background of unmanned combat,this paper studies the subjects of the movement of the four-legged robot,and analyzes the dynamic characteristics of the robot around the launch of small-caliber weapons.Specific work and contributions are as follows:(1)This paper specifically expounds the overall composition framework of the quadruped unmanned combat system,and gives the system design scheme and parameters.The function of each component is introduced in detail.The topological structure of the quadruped robot is established,and the legs,which are the key structure of the robot,is parameterized from the perspective of bionics,and the parameters such as leg length,leg joint ratio,and joint motion angle are also determined.(2)From the perspective of kinematics,the gait of the quadruped robot was researched,and the foot end coordinate equation was established.And studied the gait of the quadruped robot in different walking speed,also the gait cycle,duty cycle,step order and other parameters including walk gait,trot gait,and triangle gait were analyzed.The gait was simulated in Simulink,and the resistance torque of each joint and the pressure at the foot end were analyzed by simulation at different walking speeds.(3)Based on the quadruped robot weapon shooting system,the analysis and research were carried out from the perspective of dynamics.First,the transformation equation of the target position from the detection coordinate system to the fire coordinate system is determined.The holding torque of each joint when the weapon is recoiled is analyzed and calculated,and the shooting attitude of the quadruped robot in two degrees of freedom of pitch and rotation is analyzed and designed based on this.The joint moments in the shooting posture transformation process were simulated and calculated.According to the calculation results,the leg length and ground height parameters of the quadruped robot were adjusted to optimize the joint load moments.(4)A distributed control system is designed as the control core of the unmanned quadruped robot.The overall system control framework is established,the single-leg servo control model is designed,and the key hardware of the system is analyzed and designed.Two levels of software frameworks for high-level robot and gait control are built.