A Study Of An Eleven-joint Bionic Quadruped Robot

Compared to the wheel or pedrail robots,legged robot has more adaptability when moving on the complex ground.And quadruped robot has always been an important research topic in the field of legged robot.Quadruped robots have good load capacity and motion stability as well as simple structure and flexible movement.Therefore,they will have great application prospects in the fields of education,entertainment,disaster relief,military field,outer space exploration and so on.With studied and summarized the existing research results at home and abroad,we focus on the research of small reptile quadruped robots in this paper.By a bionic study of lizards,it is found that the swing of the waist is helpful to the movement.With introducing a similar mechanism to the design of the body of a quadruped robot,the number of driving joints has been reduced.A new structure design scheme for a new bionic quadruped robot is proposed in this paper.The research work has been carried out on the structure design,kinematics analysis,gait research and prototype manufacture of the robot.The structure design and kinematics analysis of the robot are completed.The structural design of robot is one of the main innovations of this paper.With the help of swinging waist,the single leg distance can be increased,and the motion speed can be improved.The hip joint of the left leg and the right leg is merged into a joint,and the robot's driving joints are reduced to eleven under the premise of stable walking.The kinematics model of the robot is established on the basis of the structure of the robot,and the kinematics analysis of the robot is carried out by using the D-H method.The structure characteristics of the robot based on the combination of several rules of animal quadruped gait,completed three gait planning of the robot,including four beats gait,two beats gait and swerve gait.And analyze the four beats gait in the stability margin,the movement of the center of gravity trajectory and phases.Designed and made a prototype,and realized the four beats gait in prototype.And made some prospects for future work.Two national patents were applied.The main innovations of this thesis are: propose a new quadruped robot structure design,the design of a eleven bionic quadruped robot joint walking;plan out of the three gait for this robot;a prototype,structural design and gait planning are verified.