Analysis of the Kinematics and Dynamics for Passive Quadruped Robot
|School||Shandong University of Science and Technology|
|Course||Mining Equipment and Control Engineering|
|Keywords||passive quadruped robot trotting gait kinematics dynamics simulation|
More and more robot researchers increasingly pay attention to the research of the multi-legged walking robot in the recent years. It has become an important branch of the robot research. At present, the common walking robot with two-column, four-column, six-column. Among them, four-legged walking robot is simply、flexibly、high capacity and stability, not only the realization of the static slow walk, but also the realization of dynamic speed walk. Therefore, it has good application prospect in the emergency disaster relief, the exploration, the entertainment and the military and so on,their development work has long attracted attention. Based on the current situation with the analysis of domestic quadruped robot,one kind of passive quadruped robot’s main body structures was proposed, and have carried on the thorough analysis to it.This article combined with the foundation of the Shandong University of Science and Technology graduate innovation fund project "Under complex environment kinematics and dynamics of loading quadruped robot ",through the test and analysis of the original prototype,proposed one kind of passive quadruped robot machine structure. Carries on the kinematic analysis with the D-H law to the passive quadruped robot, kinematics inverse solution is given, and reached the speed of the robot Jacobian. Uses the virtual prototyping technology, completed a 3D modeling based on UG, and import it in ADAMS, analysis kinematics modeling and simulation on typical of the passive quadruped robot with the trotting gait. Dynamic simulation has been conducted combined with the walking environment. Dynamics features and destabilizing factors of the robot are analysised. A new approach is provided for the optimization design of the robot.Through the manufacturing and assembly, try the robot under the laboratory conditions. The experiment proves that the robot realizes the function of trotting gait. The machine has the characteristics of compact structure, small size, light weight and simply control operations.