Structural Design and Motion Analysis of the Leg of a Large Quadruped Robot
Based on the emergence of motion stability of a large quadruped robot during walking,a tandem leg structure based on a 5-bar mechanism is designed,which is characterized by a simple structure,high motion accuracy and high load-bearing capacity.A simplified structural model of the single leg is established,and the joint simulation platform built by CoppeliaSim and the matlab is used to carry out kinematic analysis,gait analysis and foot-end trajectory planning of the structure.The characteristics of the displacement and angular velocity changes of the thigh and calf joints are analyzed and compared with the feedback data of the prototype.The results show that the structure meets the stability requirements of the quadrupedal robot when walking under the designed gait and foot trajectory,which improves the walking stability of the large quadrupedal robot.
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