Shoulder and Leg Kinematics Analysis and Structural Optimization of Bionic Feline Robots
In this paper,the shoulder-leg structure of the cat-like quadruped robot is studied,the kinematics of the mechanism are analyzed,and the foot-end motion space of the robot is solved by Monte Carlo method.Compare the leg end reachable space under different leg length ratios,and optimize the length of the robot's shoulder and leg.Taking the obtained optimization results as input,the virtual prototype technology is used to simulate the pitch angle and roll angle curves of the output robot to verify the optimized walking stability of the robot.The topology of the shoulder and leg struc-ture is optimized through the topology study,and the structure form after leg optimization is obtained,which lays the foun-dation for the trial production of the prototype.
quadruped robotshoulder and leg structureMonte Carlo methodtopology optimization
万方数据
维普
