Research On Design And Stability Of A Quadruped Robot

With the progress of science and technology,the robot technology has been rapidly developed and attracted people’s attention.After decades of development,the robot has been able to undertake tasks in various complex environments from simple walking in the early period,and it will have a broader application prospect in the future.In this paper,the structure of the quadruped robot is designed from the perspective of bionics,and then the kinematics and dynamics research,gait and foot trajectory planning are carried out in sequence.According to the commonly used stability research theory of quadruped robot,the stability evaluation standard of quadruped robot is established,and the mechanical control cosimulation platform is established to simulate the diagonal trotting posture of quadruped robot.The main research contents are as follows:Analyze the body structure of quadruped mammals,design the overall structure of the quadruped robot,and determine the structural parameters and layout of the legs based on bionics.Select the driving mode and motor model,and design and explain the components of each part.In the kinematics analysis,first use the D-H parameter method to establish a simplified model of the quadruped robot and define each coordinate system.The forward kinematics connects the pose coordinate system of the foot with the coordinate system of the fuselage,and the angles of the joints of the legs are obtained through the inverse kinematics;In the dynamic analysis,the Lagrange equation is used as the analysis method,and the leg model of the quadruped robot is simplified to a single-leg double linkage structure as the dynamic analysis model,and the dynamic equation is obtained.The virtual prototype model is configured by the simulation software Adams,and then the joint simulation platform for the mechanical control of the quadruped robot is built.Explain the concepts of various parameters of the gait of the quadruped robot,Based on the cycloid trajectory planning of the foot-end,a compound cycloid trajectory of the foot-end without impact and mutation is re-planned.Research the method of judging stability of the static gait and dynamic gait of the quadruped robot,analyze the stability of the static gait and dynamic gait.set up the quadruped robot’s diagonal trotting gait simulation and analyze the simulation results.