Design And Analysis Of Bionic Foot End Of Quadruped Robot

Legged mobile robots are of great interest because of their promising applications in space exploration,security screening,patrol,and rescue.Compared to wheels or tracks,legged robots are more likely to span artificial and natural terrain.The foot end of a quadruped robot is directly connected to the ground,and it is the main component for moving,supporting,adapting to the ground and acting on forces,as well as being the only part connected to the ground.In view of the defects of the current spherical,cylindrical and flat-bottomed foot ends of quadruped robots,a quadruped robot foot end suitable for non-structural surfaces is designed from a bionic perspective.The foot end of animals with excellent running and climbing in nature is taken as the bionic prototype,and the active deformation characteristics of the foot end in different terrains are combined to design the bionic foot end of the quadruped robot.With the bionic foot end as the research target,the mechanism of terrain adaptation to various terrain and posture conditions is studied to reveal its intrinsic mode of action with large adhesion force under various terrain conditions.Based on the finite element method,the simulation analysis of the mechanical properties of the bionic foot end is conducted to test the stiffness,strength and impact resistance of the bionic foot end;according to various road conditions,the force and load situation of the bionic foot under the ultimate load condition,the stiffness and strength of the bionic foot is calibrated,and the ultimate load and boundary conditions of the bionic foot under each working condition are determined.The maximum stresses are mostly found at the joints of the components and at the tips of the claws.The free fall impact on the leg of the quadruped robot at a height of 20 cm was analyzed,and the main parts of the impact were the tips of the front and rear claws.The multi-body dynamics and discrete unit method are used to simulate the action of foot-end soil and analyze the sliding and attachment performance of the bionic footend under different working conditions.The bionic foot end has better movement performance than the cylindrical foot end in soft soil environment.The results show that the bionic foot improves the attachment ability and environmental adaptability of the footed robot.The climbing angle of the quadruped robot with the bionic foot end can reach 28°,and the average traction of the quadruped robot with the bionic foot end is 8.2 kg,while the average traction of the quadruped robot with the spherical foot end is 5.4 kg.The claws of the bionic foot end cause gripping effect on the ground when landing,and the adhesion force is larger than that of the spherical foot end.The quadruped robot with the bionic foot end can stand,walk,and turn smoothly on hard surfaces,soft sand,mud,and grass.