Research on Structure Design and Gait Simulation of Quadruped Robot
[Purposes]In order to improve the walking stability of quadruped robot on complex ground,the structure of quadruped robot is designed and its gait is simulated.[Methods]Based on the leg structure of mammals,the three-dimensional model of quadruped robot was constructed in SOLIDWORKS soft-ware,and the kinematics model of leg structure was constructed by D-H model method.Through kine-matics analysis,the foot trajectory map of quadruped robot was obtained,and Walk gait was used to make the simulation analysis in V-REP simulation software.[Findings]In this study,a quadruped robot with simple structure and twelve degrees of freedom was designed.[Conclusions]The simulation results show that the mechanism design of the robot is effective and can achieve steady walking.The research re-sults of this study provide a basis for the design of such robots.
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维普
