Leg Structure Design Of Lightweight Hydraulic Quadruped Robot Based On Horse Leg Bionics

Hydraulic quadruped robot has outstanding bearing capacity,and its leg structure similar to that of mammals makes it able to adapt to various complex terrain,and overcomes the limitations of wheeled and crawler robots relying too much on terrain.Therefore,hydraulic quadruped robot can be applied to material handling,reconnaissance and rescue and equipment transportation under various complex terrain conditions,which has become a research hotspot in various countries.Quadruped robot is an emerging field based on bionic technology.Although relevant researchers have done a lot of work,there is still a large gap between the motion performance of quadruped robot and mammals.Among them,the unreasonable setting of robot leg principle and structural parameters and the large overall quality of the robot are the important reasons.Aiming at the leg structure of foot robot,this paper aims to optimize the leg structure parameters,reduce the leg structure difference between robot and mammal,improve the motion performance of robot,and realize the lightweight design of robot,the main research work includes:(1)Analyze the leg structure of different types of mammals,determine the basic structure form of the robot leg;optimize the leg parameters combined with the kinematics simulation model;study a kind of lightweight bionic leg structure which is closer to the mammal,and determine some parameters of the joint hydraulic drive unit;with the goal of optimizing the cushioning performance of one leg,carry on the design and modeling of the robot calf.(2)The energy loss of hydraulically driven robot joint motion is analyzed;and the mapping relationship between robot joint angle and hydraulic cylinder length is deduced;combined with dynamic simulation,the joint power of robot under different leg mass conditions is solved,which provides theoretical support for single leg lightweight design.(3)The influence of hydraulic hose on the single leg lightweight and the control accuracy of valve-controlled cylinder is analyzed;combined with the principle of bionics,the rotating oil distribution structure is applied to the single leg structure design of bionic foot robot to realize the built-in pipeline of the robot;the key parameters affecting the weight of the robot’s single leg are analyzed and optimized to realize the lightweight design of the robot.(4)Compared with the original single leg hydraulic test-bed,the control performance of the bionic single leg and the accuracy of the kinematic model are verified.