Design of an Unconventional Bionic Quadruped Robot with Low-degree-freedom of Movement

Abstract

The current quadruped robots are designed based on the quadruped animals in the natural world, and use complex control algorithms to realize the movement and walking of the quadruped robots, which cause problems such as difficult design of bionic robots and high production costs. In order to solve the above-mentioned problems, this paper will design a four-legged sports robot that can walk quickly, turn and cross obstacles at low cost and simple control. First, establish a simplified threedimensional model of the quadruped motion robot designed and a three-dimensional model of the specific mechanical structure in SOLIDWORKS to ensure the rationality of the mechanism design. Secondly, import the simplified model into ADAMS for kinematics simulation, complete the setting and definition of the parameters of the quadruped robot model, and verify the feasibility of the mechanical structure scheme. Then, according to the complex mechanical structure environment, some key design parts are imported into ANASY for structural finite element analysis to verify whether the stiffness and strength of the key parts of the mechanism meet the design requirements. Finally, a real quadruped robot was built in combination with theoretical design and put into operation in a real environment. The simulation results were compared to verify the feasibility and rationality of the quadruped robot program as a whole.