Abstract
Abstract. In this paper, a leg structure of quadruped robot was designed, based on mechanism synthesis, and aims to allow a system for the complex control of a quadruped robot. This structure is composed of a crank linkage mechanism and quadrilateral mechanism. The innovativeness of this robot is that it can achieve a special gait driven only by single motor. In this research, we set up the kinematic model of leg mechanism through an analytic method. Then we draw the foot track of multiple groups of parameters and select the best parameter group by comparing multiple groups of parameters. After that, the robot model was built and analyzed for its walking ability and climbing ability with virtual prototype technology. Finally, we made an experimental prototype to trial the motion ability of the robot. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in the field of single actuated quadruped robots.
Highlights
With the progress of science and technology, the demand for cargo transportation and outdoor work on unstructured terrains is increasing, and more and more legged robots are emerging at than ever before (Ruan et al, 2020)
There are many representative products abroad, such as the quadruped mechanical horse first manufactured by Rygg (1983), which adopts the principle of a closed-chain linkage mechanism to realize high step frequency walking
Aiming at the complex problem of the multi-motor control of a quadruped robot, we proposed a leg structure scheme of single degree of freedom linkage quadruped robot
Summary
With the progress of science and technology, the demand for cargo transportation and outdoor work on unstructured terrains is increasing, and more and more legged robots are emerging at than ever before (Ruan et al, 2020). Wu et al (2017) analyzed the single leg structure by using the closed-vector method and optimized the parameters of the single leg structure They studied a fully closed leg device and walking vehicle and produced the detailed design process of a single, closed-loop leg mechanism, a modular leg unit and a double quadruped robot (Wu and Yao, 2018a; Wu et al, 2021). Based on the research results at home and abroad, a quadruped single drive robot is designed by using SOLIDWORKS modeling. We optimized the leg structure and walking track of the quadruped robot, based on ADAMS virtual prototyping technology (Hao et al, 2020), and analyzed the plane motion ability and climbing ability of the robot
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