Gait and simulation analysis of quadruped crawling robot based on metamorphic structure

Abstract

Purpose This study aims to present a type of metamorphic mechanism-based quadruped crawling robot. The trunk design of the robot has a metamorphic mechanism, which endows it with excellent crawling capability and adaptability in challenging environments. Design/methodology/approach The robot consists of a metamorphic trunk and four series-connected three-joint legs. First, the walking and steering strategy is planned through the stability and mechanics analysis. Then, the walking and steering performance is examined using virtual prototype technology, as well as the efficacy of the walking and turning strategy. Findings The metamorphic quadruped crawling robot has wider application due to its variable trunk configuration and excellent leg motion space. The robot can move in two modes (constant trunk and trunk configuration transformation, respectively, while walking and rotating), which exhibits outstanding stability and adaptability in the examination and verification of prototypes. Originality/value The design can enhance the capacity of the quadruped crawling robot to move across a complex environment. The virtual prototype technology verifies that the proposed walking and steering strategy has good maneuverability and stability, which considerably expands the application opportunity in the fields of complicated scene identification and investigation.