Design and Simulation of the Legs of a Side-swingable Quadruped Robot
Aiming at the problem of small range of movement of one-legged two-degree-of-freedom quadruped robot,the leg structure is improved,and the transverse hip joint is added to expand the range of movement;the three-dimensional structure of the quadruped ro-bot is designed through SolidWorks and the finite element analysis is carried out by ANSYS to optimize the structure of the quadruped robot's thighs and calves,and it is verified that the designed parts can meet the requirements of the stresses;The kinematics model is established by using D-H method,and the theoretical calculation and verification of positive and negative kinematics are carried out for the single leg;the workspace is analyzed and trajectory planning is carried out by using MATLAB's Robotics Toolbox,obtaining the da-ta for joint angle changes,which verifies the validity and feasibility of the leg structurer design of the quadrupedal robot.
NETL
NSTL
万方数据
